In order to retrieve a specific block from a machining program, a numerical controller calculates the distance between a command path based on one of blocks included in the machining program and a current position of a tool and, based on the calculated distance, displays only that one of the blocks included in the machining program which is located closest to the current tool position or displays a plurality of blocks side by side in the ascending order of distance from the current tool position.

A method controls a machine with redundant actuators according to pattern of disconnected contours, wherein the machine includes redundant actuators by first generating a set of initial trajectories from the pattern. Each initial trajectory corresponds to one of the disconnected contours, or a path from an exit point of one contour and an entry point of a next contour. A set of costs for the set of initial trajectories is determined. A sequence of final trajectories is determined based on the set of costs. Then, a set of commands is generated for controlling the machine according to the sequence of final trajectories.