A control device includes: an input unit; a motor driving control unit; an amount-of-movement detecting unit; a coordinate position detecting unit; a display unit; and a rounding processing unit configured to, during an axial feed operation, repeatedly perform rounding processing for rounding to a rounding place at least one of the coordinate position and the amount of movement of an object to be moved. The motor driving control unit drives motors, after the axial feed operation has been stopped, based on the result of the rounding processing that was performed last.

A numerical controller includes an analysis unit to analyze a machining program and extract a coordinate rotation angle that is a rotation angle of a coordinate system specified in the machining program; and a coordinate transformation unit to transform a coordinate value in the machining program into a coordinate value in a machine tool to be controlled on the basis of polarity information created on the basis of at least one of a movement direction and a rotation direction of an axis of the machine tool, and the coordinate rotation angle.

A control system 1 includes a first controller, and a second controller. The second controller includes a program storage module that stores two or more coordinate conversion programs, and a control processing module 240 that acquires program designation information for designating one of two or more coordinate conversion programs from the first controller. Additionally, the control processing module may acquire a first operation command in the coordinate system for the first controller from the first controller, and convert the first operation command to an operation target value of two or more joint axes of a multi-axis robot using the coordinate conversion programs according to the program designation information. Driving power according to the operation target value may be output to the joint axes.

In a wire electric discharge machine, a workpiece mounting unit mounts a workpiece tilted at a preset angle to a plane based on two orthogonal axes, X- and Y-axes. An XY-coordinate system is tilted at the preset angle so that it is transformed into an XY-coordinate system. A machining command value commanded by a machining program is corrected based on the XY-coordinate system. Thus, the tilted workpiece is taper-machined with a wire electrode kept substantially perpendicular to the XY-plane (table surface).

A method of aligning coordinate frame obtained from at least two different coordinate measurement systems is disclosed. The method includes: initializing a second coordinate frame and a second part coordinate system of a component positioned in a second system; generating a second data pointset associated with the second system; receiving a first data pointset associated with a first system; determining an alignment of the second part coordinate system with the first part coordinate system by estimating an angular offset or a translational offset between the second part coordinate system and the first part coordinate system. The method includes, if the determined alignment indicates no alignment of the second part coordinate system with the first part coordinate system, repeatedly applying an angular rotation or a translational displacement to the component positioned in the second system; and determining the alignment of the second part coordinate system with the first part coordinate system.

A numerical controller includes an information storage unit that stores, in association with identification information assigned to a tool, coordinate conversion information used to convert a coordinate value in a rotating coordinate system into a coordinate value in a reference coordinate system, an information acquisition unit that acquires, from a machining program, a coordinate value that indicates a movement path of the tool to which the identification information is assigned, and a coordinate conversion unit that performs coordinate conversion of the coordinate value indicating the movement path acquired by the information acquisition unit, based on the coordinate conversion information stored in the information storage unit.