A program comparison apparatus includes: a set alignment unit that divides a comparison source-program which is a first FBD program into sets of program components connected to one another, and rearranges the sets in a line along a Y-axis direction which is a vertical direction in ascending order of execution, and also divides a comparison edited-program which is a second FBD program into sets of program components connected to one another, and rearranges the sets in a line along the Y-axis direction in ascending order of execution; a difference detection unit that detects a difference in the sets between the comparison source-program and the comparison edited-program rearranged as difference information; and a difference display control unit that causes the sets of the comparison source-program and the comparison edited-program that are rearranged to be displayed within a screen of a display device.

A numerical controller determines whether or not block prefetching from a program is sufficient based on whether at least one block subsequent to a predetermined reference block, which exists after a running block of the program and is needed to execute the reference block, has been prefetched or not. If the determination result is that prefetching is not sufficient, block prefetching from the program is performed.

A numerical controller determines whether or not block prefetching from a program is sufficient based on whether at least one block subsequent to a predetermined reference block, which exists after a running block of the program and is needed to execute the reference block, has been prefetched or not. If the determination result is that prefetching is not sufficient, block prefetching from the program is performed.

A program comparison apparatus includes: a set alignment unit that divides a comparison source-program which is a first FBD program into sets of program components connected to one another, and rearranges the sets in a line along a Y-axis direction which is a vertical direction in ascending order of execution, and also divides a comparison edited-program which is a second FBD program into sets of program components connected to one another, and rearranges the sets in a line along the Y-axis direction in ascending order of execution; a difference detection unit that detects a difference in the sets between the comparison source-program and the comparison edited-program rearranged as difference information; and a difference display control unit that causes the sets of the comparison source-program and the comparison edited-program that are rearranged to be displayed within a screen of a display device.

A method for the start-up operation of a multi-axis system, the multi-axis system having segments which are movable by a controller in one or more axes, and a tool which is connected to one of the segments and is movable and drivable to a specified position by the controller. The method includes assigning a workspace and a safe space to the multi-axis system, arranging optical markers in an environment, making it possible for an augmented reality system to determine the position of a camera system which records the multi-axis system within the environment, defining a bounding body for each of the components such that the bounding body encloses the component, calculating a position of the bounding body during the movement of the multi-axis system, visualizing the bounding bodies together with an image recorded by the camera system, and checking whether the bounding body intersects with the safe space.

A method for the start-up operation of a multi-axis system, the multi-axis system having segments which are movable by a controller in one or more axes, and a tool which is connected to one of the segments and is movable and drivable to a specified position by the controller. The method includes assigning a workspace and a safe space to the multi-axis system, arranging optical markers in an environment, making it possible for an augmented reality system to determine the position of a camera system which records the multi-axis system within the environment, defining a bounding body for each of the components such that the bounding body encloses the component, calculating a position of the bounding body during the movement of the multi-axis system, visualizing the bounding bodies together with an image recorded by the camera system, and checking whether the bounding body intersects with the safe space.