A handheld power tool 10 includes a detection signal acquisition unit 31, a determination unit 32, a display unit 24, a display control unit 34, a motor 14, and a drive control unit 13. The detection signal acquisition unit 31 acquires a detection signal that changes according to the detection strength of rebar W1 in concrete W. The determination unit 32 determines the presence or absence of the rebar W1 based on the acquisition result acquired by the detection signal acquisition unit 31. The display unit 24 displays the presence or absence of the rebar W1 by turning on different lights. The display control unit 34 controls so as to switch the color of the light displayed on the display unit 24 on the basis of the determination result by the determination unit 32. The motor 14 rotationally drives a tip tool 18a that works the concrete W. The drive control unit 13 controls the drive of the motor 14.

Systems and related methods are provided for maintaining a spatial relationship between a tool of the multi-axis machine (e.g., fluid jet nozzle of a fluid jet cutting machine) and a workpiece to be processed by the tool. An example system includes a contour follower apparatus having a sensor and a gimbal assembly operable with the sensor to sense a deviation between a machine focal point and a gimbal assembly focal point defined by the gimbal assembly as the gimbal assembly rides upon the surface of the workpiece during operation. The system may further include a gimbal mount assembly configured to sense a collision event of the gimbal assembly with another object.

Systems and related methods are provided for maintaining a spatial relationship between a tool of the multi-axis machine (e.g., fluid jet nozzle of a fluid jet cutting machine) and a workpiece to be processed by the tool. An example system includes a contour follower apparatus having a sensor and a gimbal assembly operable with the sensor to sense a deviation between a machine focal point and a gimbal assembly focal point defined by the gimbal assembly as the gimbal assembly rides upon the surface of the workpiece during operation. The system may further include a gimbal mount assembly configured to sense a collision event of the gimbal assembly with another object.

The present invention provides a control device, a control system, and a program that make it possible to prevent a tool etc. from causing interference when changing the direction of the tool with reference to an inclined surface. A control device according to an embodiment comprises a calculation unit, a selection unit, a control unit, and a determination unit. The calculation unit calculates a plurality of combinations of angles of a plurality of rotation shafts. The selection unit selects one combination from among the plurality of combinations. The control unit controls the plurality of rotation shafts and operates the plurality of rotation shafts such that the combination of angles thereof is the combination, in order to change the orientation of the tool, which is in a prescribed orientation. The determination unit determines one combination for use in actual operation from among the plurality of combinations.

A machine tool includes: a movable body that supports a tool; a feed drive unit that feed-drives the movable body; a numerical control unit that controls the feed drive by the feed drive unit to perform cutting by the tool; an acceleration sensor that is provided on the movable body and detects acceleration of the movable body; and a command unit that outputs a stop command to stop driving of the feed drive unit to the numerical control unit when the acceleration of the movable body exceeds a threshold value set in advance on the basis of an output of the acceleration sensor. The command unit sets the threshold value to a first threshold value in a cutting control state, and sets the threshold value to a second threshold value lower than the first threshold value in a feed control in a non-cutting control state.