A numerical controller controls a relative speed between a tool and a workpiece on the basis of a machining program. In a case where a corner part exists between a current block and a next block of the machining program, the next block is prefetched, and an allowable speed at the corner part at an end point of the current block is calculated. At least one of pre-interpolation acceleration of an acceleration part, a pre-interpolation speed of a constant-speed part, and pre-interpolation acceleration of a deceleration part that are relative speeds between the tool and the workpiece is adjusted so that the relative speed between the tool and the workpiece is maintained at a preset allowable speed while the corner part is passed through.

A computer-implemented method for generating a tool path cycle for removing stock from a blank by a turning tool includes the steps of receiving an input of a blank shape, receiving an input of the target shape, setting an offset distance, receiving an input of the turning tool, setting a first cut direction and a second cut direction, dividing the first layer into segments separated by border lines, such that one longitudinal set of segments is adjacent to the longitudinal portions and one radial set of segments is adjacent to the radial portions, if the first cut direction is along the Z-axis, removing the longitudinal set of segments, removing the radial set of segments, and if the first cut direction is along the X-axis, removing the radial set of segments, and removing the longitudinal set of segments.

Provided is a control device including a corner detection unit that detects a command for a corner portion; a command generation unit that generates a curve command path and first command speed information indicating a first provisional feed speed by overlapping a feed speed when a tool moves toward the corner portion and a feed speed when the tool moves away from the corner portion; a second speed planning unit that generates second command speed information indicating a second provisional feed speed; and a command speed generation unit that generates third command speed information indicating an actual feed speed when the tool is to actually move on the curve command path.

A control device according to the present disclosure includes: an analysis unit that analyzes instructions by a control program; a corner detection unit that detects, on the basis of the analysis result by the analysis unit, a corner portion at which the direction of a moving route becomes discontinuous; a reference curve creation unit that performs acceleration/deceleration processing on movements before and after the corner portion on the moving route and that creates, as a reference curve, a curve obtained by overlapping the movements by an amount corresponding to a predetermined overlap period; a corner curving unit that creates a moving route curved by inserting, in the corner portion, a curve passing through at least one predetermined reference position on the reference curve; and a curve velocity planning unit that creates a velocity plan relating to movement on the curved moving route. The curve velocity planning unit determines the velocity at the reference position during the movement on the moving route, on the basis of the moving velocity at the reference position on the reference curve.