To provide a control device, a control method and a control program that enables normal restart of the execution of a machining program. A numerical controller includes an execution control unit configured to execute a machining program for controlling operation of a machine tool from a designated block, a start processing unit configured to set, when a subsequence called from a predetermined block in the machining program is started, a flag indicating that the subsequence is under execution, and a termination processing unit configured to reset the flag following termination of the subsequence. When the execution control unit is instructed, following interruption of execution of the machining program, to restart the machining program from a block succeeding the predetermined block, if the flag is set, the execution control unit suspends the execution of the machining program.

A numerical control device that controls servomotors configured to process a workpiece into an arbitrary finishing shape by performing a plurality of processing operations so that the tool moves along a processing locus, the numeral control device includes: an initial locus deriving unit configured to derive the processing locus based on the arbitrary finishing shape; a processed range acquiring unit configured to acquire a processed range in which the tool has performed the processing operation; a receiving unit configured to receive a processing instruction for a changed finishing shape different from the arbitrary finishing shape; and a changed locus deriving unit configured to derive a changed processing locus based on a shape of a changed processed part obtained by excluding the processed range from the changed finishing shape at the time of interruption of the processing.

A controller for performing synchronization control over the master axis and the slave axis to follow an electronic cam profile includes a reference position calculator that, in response to power being restored after a power disconnect, obtains a position of the master axis and calculates reference positions of the master axis and the slave axis based on the obtained position of the master axis, a position of the master axis at cam synchronization, and the electronic cam profile, and a return control unit that performs return control to determine a position of the slave axis corresponding to a current position of the master axis based on the current position of the master axis, the electronic cam profile, and the reference positions of the master axis and the slave axis calculated by the reference position calculator, and that moves the slave axis to the determined position.

An object is to realize a technology in which a more appropriate power failure operation can be performed when the configuration of a servo system is selected. A selection device 20 includes: a servo system selection unit 21b which selects a servo amplifier corresponding to the specification of a motor and a drive condition of the motor in a servo system; a UI display control unit 21a which receives the setting of a condition on a power failure operation in the servo amplifier selected by the servo amplifier selection unit; and a power failure operation determination unit 21d which determines, based on the condition on the power failure operation received in the power failure operation condition setting unit, a method for the power failure operation in the selected servo amplifier, and the UI display control unit 21a outputs the method for the power failure operation which is determined by the power failure operation determination unit.

A machine tool includes a motor configured to rotate a spindle, a tool magazine holding a plurality of tools, and a controller. The controller has a storage unit storing motor information indicating that the motor is a synchronous motor. When the machine tool stops, while a tool exchange process is carried out, due to electric power outage, operation of a stop button, a value of a drive current of the motor, or a value output from the sensor, the controller uses a command for the synchronous motor, based on the motor information, as a part of a series of commands for recovery of the machine tool, where the tool exchange process is a process in which a tool attached to the spindle is changed with one of the plurality of tools of the tool magazine.

A machine tool includes a motor configured to rotate a spindle, a tool magazine holding a plurality of tools, and a controller. The controller has a storage unit storing motor information indicating that the motor is a synchronous motor. When the machine tool stops, while a tool exchange process is carried out, due to electric power outage, operation of a stop button, a value of a drive current of the motor, or a value output from the sensor, the controller uses a command for the synchronous motor, based on the motor information, as a part of a series of commands for recovery of the machine tool, where the tool exchange process is a process in which a tool attached to the spindle is changed with one of the plurality of tools of the tool magazine.

The present invention addresses the issue of providing a robot system and a robot operation method whereby, even if an issue occurs with an EOAT (a tool attached to the tip of a robot arm) and repair is required during application processing work by a robot, that repair does not take a lot of time or effort, errors do not occur during restoration work, and the restoration can be conducted quickly. This issue is solved by the present invention being configured so as to enable application processing work to be resumed by a user program that had been interrupted, after: returning back along the path recorded during progress by the robot tool; causing the tool to exit the work region; removing the cause of the error; then moving forward again along the recorded tool path to return to the point at which the error occurred.

A numerical controller includes an extraction unit configured to extract at least one non-machining section from a tool path based on sensor information indicating a physical quantity detected by a sensor, a tool moving along the tool path, and the tool and a workpiece not coming into contact with each other in the non-machining section, a setting unit configured to set an end position of reverse movement in one non-machining section among the at least one non-machining section extracted by the extraction unit, the tool reversing along the tool path in the reverse movement, and a control unit configured to control the reverse movement.

A numerical controller includes an extraction unit configured to extract at least one non-machining section from a tool path based on sensor information indicating a physical quantity detected by a sensor, a tool moving along the tool path, and the tool and a workpiece not coming into contact with each other in the non-machining section, a setting unit configured to set an end position of reverse movement in one non-machining section among the at least one non-machining section extracted by the extraction unit, the tool reversing along the tool path in the reverse movement, and a control unit configured to control the reverse movement.

A power grid monitoring system for determining a cause of a lateral trouble ticket. The power grid monitoring system can determine a cause of a lateral trouble ticket in response to receiving the lateral trouble ticket. The power grid monitoring system associates a set of smart meters with a first, penultimate and last transformer downstream from a given lateral. The power grid monitoring system pings each smart meter in the set of smart meters to indicate a state of the first, penultimate and last transformers of the given lateral. Accordingly, the power monitoring system determines a cause of a lateral trouble ticket associated with the given lateral based on results of the pings to the set of smart meters associated with the first, last and penultimate transformers. The power grid monitoring system can further augment the lateral trouble ticket with information characterizing the cause of the lateral trouble ticket.