A robot controller controls an arc motion of a robot. The robot controller includes an interpolation point setting unit that sets an interpolation point between movement points in an operation program. The robot controller includes a movement-point angle calculation unit that calculates an angle relating to a reference direction for determining the orientation of the robot, and an interpolation-point angle calculation unit that calculates an angle relating to the reference direction at an interpolation point by interpolating angles relating to the reference direction at the movement points. The reference direction is a direction independent from the positions of the movement points and is set in an operation program in a predetermined coordinate system.

A robot controller controls an arc motion of a robot. The robot controller includes an interpolation point setting unit that sets an interpolation point between movement points in an operation program. The robot controller includes a movement-point angle calculation unit that calculates an angle relating to a reference direction for determining the orientation of the robot, and an interpolation-point angle calculation unit that calculates an angle relating to the reference direction at an interpolation point by interpolating angles relating to the reference direction at the movement points. The reference direction is a direction independent from the positions of the movement points and is set in an operation program in a predetermined coordinate system.

In order to retrieve a specific block from a machining program, a numerical controller calculates the distance between a command path based on one of blocks included in the machining program and a current position of a tool and, based on the calculated distance, displays only that one of the blocks included in the machining program which is located closest to the current tool position or displays a plurality of blocks side by side in the ascending order of distance from the current tool position.

A numerical controller controls a relative speed between a tool and a workpiece on the basis of a machining program. In a case where a corner part exists between a current block and a next block of the machining program, the next block is prefetched, and an allowable speed at the corner part at an end point of the current block is calculated. At least one of pre-interpolation acceleration of an acceleration part, a pre-interpolation speed of a constant-speed part, and pre-interpolation acceleration of a deceleration part that are relative speeds between the tool and the workpiece is adjusted so that the relative speed between the tool and the workpiece is maintained at a preset allowable speed while the corner part is passed through.

In order to retrieve a specific block from a machining program, a numerical controller calculates the distance between a command path based on one of blocks included in the machining program and a current position of a tool and, based on the calculated distance, displays only that one of the blocks included in the machining program which is located closest to the current tool position or displays a plurality of blocks side by side in the ascending order of distance from the current tool position.

A numerical control machining path planning method and a numerical control system and method are provided are disclosed. The planning method includes: acquiring data of a first track segment AB and a second track segment BC that are adjacent before planning, wherein the first track segment AB and the second track segment BC are intersected to form a corner; calculating a distance L, a coordinate of a circle center of the transitional arc EF and coordinates of end-points E and F based on the position relationship, a radius of a transitional arc EF and a radius of at least one known track segment; and planning the corner as data for numerical control machining path by combining the data of the track segment of the transitional arc EF and the data of the two known track segments.

A computation device according to one embodiment includes a data acquisition unit that acquires shape data pertaining to shapes of a first circular processed groove processed by a rotating member when a tool is present at a first position in a machine coordinate system, and a second circular processed groove processed by the rotating member when the tool is present at a second position; a coordinate calculation unit that calculates, on the basis of the shape data, position coordinates corresponding to the first position based on a rotational center position of the rotating member; and a deviation amount calculation unit that calculates, as a deviation amount, the difference between the first position and the position coordinates.