The current flow is what controls the heat or penetration of the weld. Too much current burns through thinner materials. Too little current fails to melt enough of the material being welded and results in no penetration and weak welds. The welds can actually look OK with too little current, but a bend test answers that quickly.
Voltage affects the maximum length of the arc. Per Ohm's law, since I = E / R, where I is current, E is Voltage, and R is resistance, a higher voltage results in higher current unless you keep the arc too long, which increases resistance and lowers current
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