A controller of a machine tool includes a plurality of feed axes that feed a tool, machines a workpiece while making the tool oscillate and includes: an oscillation command creation unit which creates an oscillation command based on a machining condition; and a control unit which machines, based on the oscillation command and a movement command, the workpiece while making the tool oscillate, and the oscillation command creation unit creates, when the machining condition indicates machining by an interpolation operation of one feed axis of the plurality of feed axes, the oscillation command so as to make the tool oscillate in a direction along a machining path and changes, when the machining condition indicates machining by a simultaneous interpolation operation of the plurality of feed axes, the oscillation command so as to change the direction of the oscillation with respect to the machining path.

An operating method of a numerical-control machine tool characterized in that it comprises the steps of providing the tool-carrying head of the numerical-control machine tool with a detection device adapted to measure the values of the tilting of the detection device relative to a predetermined reference inertial plane; and moving the tool-carrying head in space so as to place said detection device in succession in a multitude of control points distributed on a first detection plane, and create at least a first digital map that contains the tilting values of the detection device relative to the reference inertial plane, in each of said control points.

A numerical-control machine tool is provided that includes a tool-holder head which is provided with a tool-holder spindle and is capable of rotating/tilting the tool-holder spindle about two different rotation axes inclined to one another; a movable supporting structure that supports the tool-holder head; inclinometer microsensor(s) that are located on the movable supporting structure of the machine to measure/determine the tilt of the element on which the sensors are mounted; and an electronic control device that commands the moving members of the movable supporting structure and of the tool-holder head. The electronic control device is electronically connected to the inclinometer microsensor(s) controls the moving members of the movable supporting structure and of the tool-holder head based on signals arriving from the inclinometer microsensor(s), so as to correct the spatial position and/or the orientation of the tool-holder spindle.

A command generation device to control a motor includes command input circuitry configured to receive a first command, first intermediate data calculation circuitry configured to calculate first intermediate data based on the first command, delay time setting circuitry configured to determine a delay time based on the first command, second intermediate data calculation circuitry configured to calculate second intermediate data by smoothing the first intermediate data based on the delay time, and command output circuitry configured to calculate, based on the second intermediate data, a second command according to which the motor is controlled. A first time period during which positioning the motor based on the first command is completed when the first intermediate data is smoothed is longer by the delay time than a second time period during which positioning the motor based on the first command is completed when the first intermediate data is not smoothed.

An oscillation permission/prohibition notification part of a control device notifies an oscillation command generation part of generation permission of the oscillation command when a position command value has not reached within a predetermined range of a machining end point of a workpiece, and notifies the oscillation command generation part of generation prohibition when the position command value has reached within the predetermined range. A control part includes a learning controller and a learning determination part. The learning determination part determines whether the oscillation command generation part has been notified of generation permission or generation prohibition of the oscillation command, turns learning control on when notification of generation permission of the oscillation command has been received, and sets the oscillation command to zero and turns off learning control when notification of generation prohibition of the oscillation command has been received.

An oscillation permission/prohibition notification part of a control device notifies an oscillation command generation part of generation permission of the oscillation command when a position command value has not reached within a predetermined range of a machining end point of a workpiece, and notifies the oscillation command generation part of generation prohibition when the position command value has reached within the predetermined range. A control part includes a learning controller and a learning determination part. The learning determination part determines whether the oscillation command generation part has been notified of generation permission or generation prohibition of the oscillation command, turns learning control on when notification of generation permission of the oscillation command has been received, and sets the oscillation command to zero and turns off learning control when notification of generation prohibition of the oscillation command has been received.

A motor control device comprising a motor control unit that, on the basis of an operation command signal for driving a motor and a feedback signal, from an encoder, corresponding to the operation of the motor, generates a command value pertaining to the operation of the motor in accordance with a prescribed feedback scheme so that the operation of the motor follows the operation command signal, wherein interrupt processing of a drive signal is executed by an interrupt unit on the basis of a comparison result of two items pertaining to a prescribed feedback value calculated using the feedback signal from the encoder, and to a state calculation value that is calculated on the basis of the operation command signal and that pertains to an operating state of the motor comparable with the prescribed feedback value.

A motor control device comprising a motor control unit that, on the basis of an operation command signal for driving a motor and a feedback signal, from an encoder, corresponding to the operation of the motor, generates a command value pertaining to the operation of the motor in accordance with a prescribed feedback scheme so that the operation of the motor follows the operation command signal, wherein interrupt processing of a drive signal is executed by an interrupt unit on the basis of a comparison result of two items pertaining to a prescribed feedback value calculated using the feedback signal from the encoder, and to a state calculation value that is calculated on the basis of the operation command signal and that pertains to an operating state of the motor comparable with the prescribed feedback value.

A system and an apparatus capable of independently driving movers are described herein. The system and apparatus includes: a track that forms a path for movers; a plurality of movers movably mounted on the track for moving along the path; and a plurality of drive elements fixedly arranged along the track. The drive elements each have a surface that is oriented to contact a driven member of the movers. The drive elements are configured to sequentially engage the driven member of a plurality of the movers to provide controlled independent motion of the movers along the track. The drive elements may be driven by rotary motors. A method of independently driving movers is also described herein.

A system and an apparatus capable of independently driving movers are described herein. The system and apparatus includes: a track that forms a path for movers; a plurality of movers movably mounted on the track for moving along the path; and a plurality of drive elements fixedly arranged along the track. The drive elements each have a surface that is oriented to contact a driven member of the movers. The drive elements are configured to sequentially engage the driven member of a plurality of the movers to provide controlled independent motion of the movers along the track. The drive elements may be driven by rotary motors. A method of independently driving movers is also described herein.