Motion control method and system for servicing of welding torch

A system for servicing a welding torch, the system comprising:

• a controllable clamp adapted to hold and release a component of the welding torch, the clamp being movable along an axis of the clamp and rotatable about the axis of the clamp;
• and
• a lift system comprising:
• a rail;
• a dual acting cylinder for generating a motion of the clamp along the axis of the clamp, the cylinder having a first chamber and a second chamber;
• a carriage movable along the rail and carrying the clamp, the cylinder operatively coupled to the carriage;
• and
• a controller adapted to control a net force defined by an upwards force and a downwards force acting on the cylinder in connection with the operation of the clamp, thereby providing a degree of freedom in a movement of the clamp to control a force exerted between mating components of the welding torch when removing or replacing the component.