A numerical controller corrects a tool compensation value for a machine tool provided with a tool for machining a workpiece based on an NC machining program. The numerical controller makes it unnecessary for a person in charge of input to be conscious of the sign of the tool compensation value and prevents a tool compensation value input error by providing an input button for bringing a workpiece and a tool cutting edge close to each other by a specified amount (+input advance) and an input button for causing the workpiece and the tool cutting edge to be away from each other by a specified amount (+input retreat) at the time of inputting the tool compensation value.

A servomotor control device includes a servomotor; a driven body configured to be driven by the servomotor; a connection mechanism configured to connect the servomotor and driven body, and transmit power of the servomotor to the driven body; a position command generation unit configured to generate a position command value; a motor control unit configured to control the servomotor using the position command value; a position command compensation unit including a force estimation part configured to estimate a drive force acting on the driven body at the connection mechanism, and a compensation amount generation part configured to generate a compensation amount for compensating the position command value based on the estimated drive force; and a restriction part configured to restricting updating of the compensation amount when a command acceleration or a command velocity of the position command value is no more than a desired value.

A method corrects the position and deviation of a syringe needle in a machine for automatically preparing intravenous medication. The machine includes an automatic actuator, together with a control system, in which are placed the syringe and a one-dimensional position sensor including a measuring plane. The correction method includes steps in which the position sensor obtains position coordinates of a first and a second point of the needle, and steps of correcting the position and deviation error of the needle, by the control system of the automatic actuator.

A robot includes an arm. A first inclinometer is provided in a grasping unit provided in the arm or an object grasped by the grasping unit. The arm is operated based on a first angle of a reference surface and a second angle measured by the first inclinometer.