Provided is a cutting speed planning system including a graphic preprocessing engine, a first speed planning engine, an included angle calculation engine, a second speed planning engine and a speed determination engine. The graphic preprocessing engine substitutes a simplified cutting route for a plurality of short straight paths of a graphic path. The first speed planning engine calculates a reasonable maximum cutting speed of each cutting route. The included angle calculation engine calculates the included angle between two adjacent ones of the cutting routes. The second speed planning engine adjusts the terminal cutting speed and the initial cutting speed of the cutting routes. The speed determination engine performs speed planning on the cutting routes according to digital control system period time. A cutting speed planning method and a non-transitory storage medium are further provided.

A candidate point selection processor selects, as candidate points, vertices on an outline. A search point selection processor selects, from the candidate points, a reference search point to be used to search for a point that serves as a cutting line endpoint. A reference line setting processor sets a reference line connecting a reference point with the search point. A candidate line setting processor sets candidate lines connecting the search point with the candidate points other than the search point. A candidate line selection processor selects, as a selected candidate line, the candidate line located only within a non-effective region. An angle calculation processor calculates an angle between the reference line and the selected candidate line. A cutting line setting processor sets a cutting line connecting the search point with the candidate point of the selected candidate line defining an angle with the reference line that is the smallest angle calculated.

A positioning apparatus includes a cutting line setting processor to set a cutting line to extend in a predetermined direction from a first endpoint on an outline of a target object located on a top sheet and to be located within a non-effective region, a first determination processor to determine whether a first angle between the outline of the target object and the cutting line, with the first endpoint located at an intersection of the outline and the cutting line, is equal to or smaller than a predetermined determination angle that is an acute angle, and a shape change processor to, when the first angle is determined to be equal to or smaller than the determination angle by the first determination processor, change the shape of the cutting line such that the first angle is greater than the determination angle.

A positioning apparatus includes a cutting line setting processor to set a cutting line to extend in a predetermined direction from a first endpoint on an outline of a target object located on a top sheet and to be located within a non-effective region, a first determination processor to determine whether a first angle between the outline of the target object and the cutting line, with the first endpoint located at an intersection of the outline and the cutting line, is equal to or smaller than a predetermined determination angle that is an acute angle, and a shape change processor to, when the first angle is determined to be equal to or smaller than the determination angle by the first determination processor, change the shape of the cutting line such that the first angle is greater than the determination angle.

A candidate point selection processor selects, as candidate points, vertices on an outline. A search point selection processor selects, from the candidate points, a reference search point to be used to search for a point that serves as a cutting line endpoint. A reference line setting processor sets a reference line connecting a reference point with the search point. A candidate line setting processor sets candidate lines connecting the search point with the candidate points other than the search point. A candidate line selection processor selects, as a selected candidate line, the candidate line located only within a non-effective region. An angle calculation processor calculates an angle between the reference line and the selected candidate line. A cutting line setting processor sets a cutting line connecting the search point with the candidate point of the selected candidate line defining an angle with the reference line that is the smallest angle calculated.

A numerical control device reads a machining program and causes a machine tool to operate based on the machining program. The numerical control device includes: an acceleration-deceleration determining unit; and a position-command generating unit. The numerical control device is configured to set the acceleration and the deceleration as acceleration-deceleration data when the acceleration and the deceleration satisfy tolerances decided based on actual mechanical dynamic characteristics, and set the tolerances as acceleration-deceleration data when the acceleration and deceleration do not satisfy the tolerances. The position-command generating unit is configured to generate a position command based on the moving command, the acceleration-deceleration data, and the speed at the end of the command route and the superimposition amount subjected to processing by the acceleration-deceleration determining unit.