A method of positioning a component in a desired position on a board is provided. The method includes the steps of: (a) picking up the component with a nozzle of a movable placement unit of a pick and place machine; (b) transporting the component towards the board as a function of the desired position; (c) obtaining sensor data about an orientation of the component with respect to the nozzle with a sensor of the placement unit; (d) obtaining in the sensor rotational data about the orientation of the nozzle with respect to the placement unit; (e) combining in the sensor the sensor data and the rotational data into a data set; (f) sending the data set from the sensor to a stationary computer and computing a correction instruction in the stationary computer; and (g) placing the component on the board as a function of the correction instruction from the stationary computer.

To provide a numerical controller for a machine tool capable of shredding chips efficiently along one path by making oscillating motion involving synchronization between multiple axes and intermittently making cutting-out motion and cutting-in motion. A controller is for a machine tool used for thread cutting of a work as a target of the thread cutting using multiple axes, comprising: a movement command generation unit that generates a movement command for the multiple axes; an oscillation command generation unit that generates an oscillation command for causing a work rotary axis, a tool feed axis, and a radial direction motion axis to make oscillating motion involving synchronization between these three axes, the oscillation command being for causing a cutting tool to make motion of departing from the work while making cutting-out motion on the work and make cutting-in motion on the work intermittently; and an adder that adds the movement command and the oscillation command and outputs a total movement command resulting from the addition.

A controller that controls a machine tool, a method of controlling a machine tool, and a computer program that causes a computer to operate as a controller that controls a machine tool, the machine tool comprising multiple control axes and used for machining by cutting of a work as a machining target by means of coordinated motion of the control axes. The method includes acquiring a position command for driving a cutting tool or the work, acquiring a rotation speed of the rotated cutting tool or the rotated work, calculating oscillation amplitude, calculating an oscillation frequency, calculating an oscillation command for causing the cutting tool and the work to oscillate relative to each other, storing a command route, correcting the oscillation command based on the stored command route, determining a drive signal to be used for driving the servo motor, and outputting the drive signal.

A controller including: a positional deviation calculating unit that calculates positional deviation using a position command directed to a servo motor for driving a cutting tool, etc., and a position feedback value corresponding to the position of the cutting tool, etc.; an oscillation command calculating unit that calculates an oscillation command using the position command and a spindle axis angle of the rotated work, etc., or using the position feedback value and the spindle axis angle; an oscillation offset calculating unit that calculates an offset for the oscillation command using the positional deviation, the oscillation command, and the spindle axis angle; and a driving unit that determines a drive signal for the servo motor based on the positional deviation, the oscillation command, and the oscillation offset, and outputs the drive signal.

A controller has a function of stopping an oscillation motion in a non-cutting section in oscillation cutting and includes an oscillation command creation unit and an oscillation command creation determination unit. The oscillation command creation unit outputs an oscillation command, and the oscillation command creation determination unit determines whether or not cutting of a workpiece by a tool is actually being performed and stops an output of the oscillation command during non-cutting.

A method of positioning a component in a desired position on a board is provided. The method includes the steps of: (a) picking up the component with a nozzle of a movable placement unit of a pick and place machine; (b) transporting the component towards the board as a function of the desired position; (c) obtaining sensor data about an orientation of the component with respect to the nozzle with a sensor of the placement unit; (d) obtaining in the sensor rotational data about the orientation of the nozzle with respect to the placement unit; (e) combining in the sensor the sensor data and the rotational data into a data set; (f) sending the data set from the sensor to a stationary computer and computing a correction instruction in the stationary computer; and (g) placing the component on the board as a function of the correction instruction from the stationary computer.

The present invention provides a technique for reducing the workload of a machine tool user selecting one specific shaft to oscillate during processing. Provided is a machine tool control device 1, the machine tool performing oscillating cutting by oscillating only one specific shaft, said machine tool control device 1 comprising: an oscillation shaft selection unit 13 for selecting one specific shaft from among a plurality of feed shafts as an oscillation shaft when performing oscillating cutting by oscillating only one specific shaft, or not selecting any shaft as a shaft to be oscillated, on the basis of tool shape data whereby a tool shape can be recognized, positional relationship data of the relative positional relationship between a workpiece and a tool, or used tool data whereby a tool to be used can be specified, and movement data for moving the workpiece and the tool relative to each other; and an oscillation operation control unit 14 for performing control so as to oscillate the one specific shaft selected by the oscillation shaft selection unit, or performing control so as not to oscillate any feed shaft, on the basis of a processing condition and the selection result from the oscillation shaft selection unit.