of course yes

Heat generated increases with increasing tool rotation speed and tool plunge force. Travel speed influences the heat input per unit weld length (specific heat input), affecting metal flow around the probe. Specific heat input decreases with increasing travel speed, which reduces material softening in the vicinity of the probe, making plastic flow more difficult. High travel speeds may cause defects, such as cavities. For low tool rotation speed, low plunge force and high travel speed external defects may form for welds in some alloys. The increase of the plunge force moves defects to the interior of the weld. The ratio tool rotation speed vs travel speed is sometimes used to distinguish between hot welds, having high ratio, and cold welds, with low ratio. Hot welds are less sensitive to defect formation but may exhibit more significant changes in microstructure and mechanical properties than cold welds.

Thank you so much, but I am searching for a numerical or imperical relation.

a brief explanation, thanks a lot