A numerical controller looks ahead and analyzes commands indicated by a block contained in a program, and identifies a travel direction of a control target for each of the commands to calculate a time constant based on the identified travel direction. The numerical controller then sets a time constant for filter processing based on the time constant for each of the commands, and performs filter processing on command data subjected to a linear acceleration and deceleration process, based on the set time constant. The numerical controller then calculates movement of each axis for each interpolation period, based on the command data subjected to the filter processing.

A controller of a motor that drives a driven body includes: an inertia estimating unit that estimates inertia on the basis of feedback information (torque and current) of the motor; a computing unit that computes an acceleration or deceleration time constant of the motor from the estimation inertia estimated by the inertia estimating unit; a storage unit that stores an inertia difference which is a difference between the estimation inertia and at least one known actual inertia and a time constant difference which is a difference between an actual acceleration or deceleration time constant corresponding to the actual inertia and an acceleration or deceleration time constant calculated on the basis of the estimation inertia; and a correction unit that corrects the acceleration or deceleration time constant calculated by the computing unit using the inertia difference and the time constant difference stored in the storage unit.

A rotation controller controls a rotation mechanism for rotation of a spindle. A movement controller causes, while the spindle is rotating, a feed mechanism to bring a cutting tool into contact with a workpiece to cause the cutting tool to cut the workpiece. The rotation controller controls a spindle rotation speed so as to accelerate or decelerate the rotation of the spindle, and the movement controller brings the cutting tool into contact with the workpiece after the rotation controller starts the rotation of the spindle, and separates the cutting tool from the workpiece while the spindle rotation speed is put under the acceleration control or deceleration control exercised by the rotation controller.

A controller of a motor includes: an acceleration/deceleration time constant storing unit that stores an acceleration/deceleration time constant; a position command creating unit that creates a position command value based on the acceleration/deceleration time constant; a position detection unit that detects a rotation position of the motor; a speed command creating unit that creates a speed command for the motor on the basis of the position command value and a position detection value detected by the position detection unit; an ideal response computing unit that computes an ideal response from the position command value; and a response comparing unit that compares the ideal response with an actual response detected by the position detection unit. The response comparing unit changes the acceleration/deceleration time constant stored in the acceleration/deceleration time constant storing unit when it is determined that the ideal response does not match the actual response.

A control system of a motor-driven moveable platform is provided to control speed of a moveable platform. The control system of the motor-driven moveable platform includes a subtractor, a controller, and a signal converter. The subtractor produces an error speed, the controller produces a speed control signal, and the signal converter produces a speed drive signal including an accelerated drive signal and a decelerated drive signal. The accelerated drive signal and the decelerated drive signal are provided to control acceleration and deceleration of the moveable platform.

A controller of a motor that drives a driven body, the controller includes: a command generating unit that generates a movement command for the motor; an inertia estimating unit that acquires feedback information of the motor and estimates an inertia on the basis of a predetermined estimation equation; a difference computing unit that computes a change in the inertia changed with machining based on the movement command of the command generating unit; and a comparing unit that compares a difference between the estimation results before and after the machining of the driven body estimated by the inertia estimating unit and the change in the inertia computed by the difference computing unit. the estimation equation of the inertia estimating unit is corrected on the basis of a comparison result of the comparing unit so that the difference between the estimation results matches a computation result obtained by the difference computing unit.

A controller of the present invention for a drive mechanism which is driven by a plurality of motors includes a position command calculation unit and a torque command calculation unit, the position command calculation unit delivers a common position command value to each of the motors and the torque command calculation unit switches, according to the operation state of the drive mechanism, between individualization control for individually performing the output of an integral element of the torque command calculation unit to each of the motors and sharing control for sharing the output of the integral element of the torque command calculation unit to the motors.

A servo movement control method, device, and terminal device are provided. The method includes: controlling an output shaft of the servo to rotate according to a first motion instruction; detecting whether a second motion instruction is received within a first preset time period, and re-planning a second target motion curve to a second target end position from a corresponding target position on a first target motion curve when receiving the second motion instruction; and controlling the output shaft to rotate from an actual position when receiving the second motion instruction to the second target end position according to the second target motion curve. When the second motion instruction is received, the servo is controlled to rotate from the target position to the second target end position according to the second motion instruction, so that the servo is switched from the first motion instruction to the second motion instruction smoothly.

A numerical controller for performing table-format-data-based operation control includes a reading unit that analyzes a command block read from table format data to acquire a reference value and a coordinate value of a control point and outputs the reference value and the coordinate value, a segment distinction unit that divides movement to the control point into acceleration/deceleration segments and a constant speed segment, a feed speed calculation unit that calculates a feed speed in the constant speed segment, and a distribution process unit that calculates the travel of a controlled axis for each control cycle so that acceleration/deceleration is applied in the acceleration/deceleration segments and the feed speed calculated by the feed speed calculation unit is achieved, and delay in the coordinate value with respect to the reference value based on the acceleration/deceleration control is corrected by using the feed speed calculated by the feed speed calculation unit.

A rotation controller controls a rotation mechanism for rotation of a spindle. A movement controller causes, while the spindle is rotating, a feed mechanism to bring a cutting tool into contact with a workpiece to cause the cutting tool to cut the workpiece. The rotation controller controls a spindle rotation speed so as to accelerate or decelerate the rotation of the spindle, and the movement controller brings the cutting tool into contact with the workpiece after the rotation controller starts the rotation of the spindle, and separates the cutting tool from the workpiece while the spindle rotation speed is put under the acceleration control or deceleration control exercised by the rotation controller.