A numerical controller controls a motor for driving at least one axis based on a machining program including information about a characteristic shape. The numerical controller includes: a characteristic shape reading unit configured to read information about a characteristic shape to be machined from a machining program including information about a characteristic shape; a section setting unit configured to set one or more set sections on a tool path is response to the information about the characteristic shape; and a motion parameter change unit configured to change at least one parameter to be used for controlling the at least ore axis outside the set section and inside the set section.

The invention relates to a method for machining a workpiece by means of a chip-removing tool on a numerically-controlled machine tool, in which the tool is moved relative to the workpiece along tool paths that are formed by means of a sequence of supporting points N, wherein the bounding volume that is produced during the rotation of the tool essentially comprises a point contact in a point of contact with the desired surface of the workpiece when machining the workpiece, and that in addition to the data relating to the supporting point N the data relating to the respective point of contact of the bounding volume with the desired surface of the workpiece are determined and that the tool path is optimized on the basis of the data relating to the point of contact.

A numerical controller enabling prediction of a machining time considering a machine delay occurring in a machine. The numerical controller configured for predicting a reference machining time corresponding to a machining time not considering acceleration/deceleration of an predicting the number of times of acceleration/deceleration of the axis in machining storing information related to a deviation time corresponding to a difference between an actual machining time corresponding to a machining time required for actual machining by the machine and the reference machining time predicted in the machining, calculating a correction time for correcting the reference machining time based on the number of times of acceleration/deceleration predicted and the information related to the deviation time stored, and calculating a predicted machining time obtained by correcting the reference machining time using the correction time.

A numerical controller enabling prediction of a machining time considering a machine delay occurring in a machine. The numerical controller configured for predicting a reference machining time corresponding to a machining time not considering acceleration/deceleration of an predicting the number of times of acceleration/deceleration of the axis in machining storing information related to a deviation time corresponding to a difference between an actual machining time corresponding to a machining time required for actual machining by the machine and the reference machining time predicted in the machining, calculating a correction time for correcting the reference machining time based on the number of times of acceleration/deceleration predicted and the information related to the deviation time stored, and calculating a predicted machining time obtained by correcting the reference machining time using the correction time.

A numerical controller contains a position table where a positional relationship is defined between a position of a master axis and positions of a plurality of slave axes, a slave axis synchronous control unit that drives and controls the plurality of slave axes in accordance with the position table so that the slave axes are synchronized with the master axis, a parent determining unit that determines one slave axis, which is stopped due to a failure, to be a parent of the master axis, and a master axis control unit that drives and controls the master axis based on a command position, and if a slave axis serving as the parent of the master axis is determined by the parent determining unit, drives and controls the master axis in accordance with the position table, so that the master axis is synchronized with the slave axis determined to be the parent.

A tool path generation method for generating a second tool path by performing a smoothing process on a first tool path for processing a work with a machine tool includes a change rate calculation step of calculating a curvature change rate of the first tool path at a plurality of moving points (P.sub.n) of the first tool path. The tool path generation method includes: a weight calculation step of calculating a moving average weight on the basis of the curvature change rate of the first tool path at each of the moving points (P.sub.n); and a step of calculating coordinate values of the moving average of the moving points (P.sub.n) using the weight at each of the moving points (P.sub.n), and setting the coordinate values of the moving average of the moving points (P.sub.n) as moving points of the second tool path.

To include an analysis processing unit that obtains a movement command for moving on a movement path in a machining program, and vibration conditions for vibrating along the movement path, a command-movement-amount calculation unit that calculates a command-movement amount per unit time, a vibrational-movement-amount calculation unit that uses the vibration conditions to calculate a vibrational-movement amount per unit time at a time corresponding to the movement command, and a movement-amount combining unit that combines the command-movement amount with the vibrational-movement amount to calculate a combined movement amount, and that acquires a movement amount within the unit time such that a position, which has moved from a reference position for calculating the combined movement amount by the combined movement amount, is located on the movement path.

To include an analysis processing unit that obtains a movement command for moving on a movement path in a machining program, and vibration conditions for vibrating along the movement path, a command-movement-amount calculation unit that calculates a command-movement amount per unit time, a vibrational-movement-amount calculation unit that uses the vibration conditions to calculate a vibrational-movement amount per unit time at a time corresponding to the movement command, and a movement-amount combining unit that combines the command-movement amount with the vibrational-movement amount to calculate a combined movement amount, and that acquires a movement amount within the unit time such that a position, which has moved from a reference position for calculating the combined movement amount by the combined movement amount, is located on the movement path.

A numerical controller having a function of optimizing a corner path at a corner of tangent continuity includes a path conversion unit for obtaining a curved correction path passing through three points corresponding to a start point and an end point of a third block, and a shift point obtained by shifting an intermediate point of a command path based on the third block in an inward direction of a corner path within a limit of a preset allowable error amount when the corner path is formed by a series of blocks and a tangential direction of the corner path is continuous, and generating a path obtained by replacing the command path of the third block included in the corner path by the correction path, the third block commanding curvilinear movement at a larger curvature than a first curvature and a second curvature being interposed between the first block commanding rectilinear movement or curvilinear movement at the first curvature corresponding to a small curvature and the second block commanding rectilinear movement or curvilinear movement at the second curvature corresponding to a small curvature in the series of blocks.

A control device is provided which is operable to change the position of a distal end side link hub by driving each of arms, which are proximal end side links of a plurality of link mechanisms by means of an actuator. When in a series of operations, the position change of the distal end side link hub is mad by an angle greater than a predetermined angle, a relay position setting unit is provided for setting a relay point between a starting point and a terminating point of each of the arms so that the interference of the three axis arms may be relieved. A position change control unit performs a position control so as to pass simultaneously through the relay point so set.