CNC Welding, Any Real Experience Out There?

Hi all,

This is my first post on this group and I'll have to admit the recent
post regarding CNC welding caught my eye. Has anyone in this group
had any hands on experience with CNC welding? I have a Miller 251 mig
welder and once have rigged the gun to my CNC plasma table to weld
pipe and the results were impressive! I'm getting ready to fab a full
scale "Straight Welder" (as I call it) to weld anything requiring
nearly straight welds. It will consist of a long axis about 7' in
length and a cross, or weave axis that will be conveyed by the 7'
axis. This axis will perform the weave motion and will compensate for
any error in linearity of the metal to be welded.

If anyone has any links, advice, or experience to share regarding
this project it would be greatly appreciated!

Thanks, Eric