A unit vector calculating unit of a laser machining device obtains a unit vector based on respective current rotational positions of an A-axis and a B-axis. A movement command calculating unit, a speed command calculating unit, or a torque command calculating unit generates a command signal for maintaining a gap amount at a constant value, based on the unit vector, and the gap amount between a machining nozzle and a workpiece. With a servo control unit, on the basis of the command signal, an X-axis motor, a Y-axis motor, and a Z-axis motor are controlled, whereby the machining nozzle is moved relatively in three-dimensional directions with respect to the workpiece.

A unit vector calculating unit of a laser machining device obtains a unit vector based on respective current rotational positions of an A-axis and a B-axis. A movement command calculating unit, a speed command calculating unit, or a torque command calculating unit generates a command signal for maintaining a gap amount at a constant value, based on the unit vector, and the gap amount between a machining nozzle and a workpiece. With a servo control unit, on the basis of the command signal, an X-axis motor, a Y-axis motor, and a Z-axis motor are controlled, whereby the machining nozzle is moved relatively in three-dimensional directions with respect to the workpiece.

Methods, machines, and computer-readable mediums for determining distance correction values of a desired distance between a laser processing nozzle on a laser processing head and a workpiece during laser processing of the workpiece are provided. In some implementations, the workpiece is scanned along a desired path of a surface of the workpiece separately by the laser processing nozzle and a measurement head arranged in place of the laser processing nozzle on the laser processing head, with a capacitively measured distance identical to the desired distance. The measurement head has a lower lateral sensitivity of a capacitance measurement than the laser processing nozzle. Respective scanned movement paths of the laser processing nozzle and the measurement head are determined. The distance correction values for the desired distance of the laser processing nozzle are then determined from the scanned movement paths determined with the laser processing nozzle and the measurement head.

In a self-detecting apparatus for workpiece-origin, a mobile machine tool having the self-detecting apparatus, a method for self-detecting the workpiece-origin, the self-detecting apparatus is equipped to the mobile machine tool and includes a vision sensor and a transmitting unit. The vision sensor obtains a point image marked to the workpiece, and detects a position of a workpiece-origin based on coincidence of focuses of the points. The transmitting unit provides an information obtained by the vision sensor to the mobile machine tool. The mobile machine tool is moved to the workpiece-origin, so as to coincide the focuses of the points, based on the provided point image obtained by the vision sensor.

In a self-detecting apparatus for workpiece-origin, a mobile machine tool having the self-detecting apparatus, a method for self-detecting the workpiece-origin, the self-detecting apparatus is equipped to the mobile machine tool and includes a vision sensor and a transmitting unit. The vision sensor obtains a point image marked to the workpiece, and detects a position of a workpiece-origin based on coincidence of focuses of the points. The transmitting unit provides an information obtained by the vision sensor to the mobile machine tool. The mobile machine tool is moved to the workpiece-origin, so as to coincide the focuses of the points, based on the provided point image obtained by the vision sensor.

A controller and a laser processing device having the controller, capable of reducing time for switching feedback control to gap control, and capable of moving a processing nozzle relative to a workpiece so that an amount of change in acceleration when switching is minimized. The controller has: a deceleration start distance calculating part which calculates a deceleration start distance corresponding to a distance between the nozzle and the workpiece when deceleration of approach motion of the nozzle is started; a first velocity command generating part which generates a first velocity command value based on the deceleration start distance, a predetermined maximum approach velocity and deceleration rate; a second velocity command generating part which generates a second velocity command value based on a gap target value and a feedback value; and a velocity command switching part which selects one of the first and second velocity command values.

Methods, machines, and computer-readable mediums for determining distance correction values of a desired distance between a laser processing nozzle on a laser processing head and a workpiece during laser processing of the workpiece are provided. In some implementations, the workpiece is scanned along a desired path of a surface of the workpiece separately by the laser processing nozzle and a measurement head arranged in place of the laser processing nozzle on the laser processing head, with a capacitively measured distance identical to the desired distance. The measurement head has a lower lateral sensitivity of a capacitance measurement than the laser processing nozzle. Respective scanned movement paths of the laser processing nozzle and the measurement head are determined. The distance correction values for the desired distance of the laser processing nozzle are then determined from the scanned movement paths determined with the laser processing nozzle and the measurement head.

This numerical control device comprises a distance control unit, a filter unit, a determination unit, and a setting unit. The distance control unit controls the distance between a first object and a second object to be close to a target distance. The filter unit filters a signal indicating the distance. The determination unit determines, on the basis of the target distance, a time constant obtained from the relationship between the distance and an output signal from a distance sensor that measures the distance. The setting unit sets a time constant of the filter to the time constant determined by the determination unit.