To provide a numerical controller that can detect the position at which the look-ahead blocks used to determine an acceleration/deceleration operation is insufficient in a machining program in order to stabilize feed rate, cutting speed and other factors. A numerical controller includes a program execution unit that executes a machining program, a program look-ahead unit that looks ahead at the machining program in parallel with execution of the machining program, a look-ahead blocks calculation unit that calculates a look-ahead blocks, which is the difference between a first sequence number that is the number of a block being executed by the program execution unit and a second sequence number that is the number of a block that is looked ahead by the program look-ahead unit while the machining program is being executed, and an exhaustion block detection unit that detects an exhaustion block, which is a block at which the look-ahead blocks falls below a prescribed value.

To provide a numerical controller that can detect the position at which the look-ahead blocks used to determine an acceleration/deceleration operation is insufficient in a machining program in order to stabilize feed rate, cutting speed and other factors. A numerical controller includes a program execution unit that executes a machining program, a program look-ahead unit that looks ahead at the machining program in parallel with execution of the machining program, a theoretical value calculation unit that calculates theoretical values per block in processing time for the machining program from the feed rate of the machine tool and lengths of minute straight lines that make up the machining path followed by the machine tool, a measured value calculation unit that calculates actually measured values per block in the look-ahead time taken by the program look-ahead unit and the processing time for the machining program while the machining program is being executed, and an abnormal block detection unit that detects an abnormal block that is a block at which the result of subtracting the total of the theoretical values from the total of the actually measured values is more than a prescribed value.

To provide a numerical controller that can detect a position in a machining program at which a speed control abnormality is likely to occur due to an insufficient look-ahead blocks that are used to determine an acceleration/deceleration operation, and supplement the look-ahead blocks at that position in order to stabilize feed rate, cutting speed and other factors. A numerical controller includes a required look-ahead blocks setting unit that sets a required look-ahead blocks, which is a look-ahead blocks required to execute a machining program, and an operation limitation unit that compares a look-ahead blocks calculated by a look-ahead blocks calculation unit to the required look-ahead blocks and, if the look-ahead blocks is less than the required look-ahead blocks, limits execution of the machining program until the look-ahead blocks reach the required look-ahead blocks.

To provide a numerical controller that can detect the position at which the look-ahead blocks used to determine an acceleration/deceleration operation is insufficient in a machining program in order to stabilize feed rate, cutting speed and other factors. A numerical controller includes a program execution unit that executes a machining program, a program look-ahead unit that looks ahead at the machining program in parallel with execution of the machining program, a look-ahead blocks calculation unit that calculates a look-ahead blocks, which is the difference between a first sequence number that is the number of a block being executed by the program execution unit and a second sequence number that is the number of a block that is looked ahead by the program look-ahead unit while the machining program is being executed, and an exhaustion block detection unit that detects an exhaustion block, which is a block at which the look-ahead blocks falls below a prescribed value.

To provide a numerical controller that can detect the position at which the look-ahead blocks used to determine an acceleration/deceleration operation is insufficient in a machining program in order to stabilize feed rate, cutting speed and other factors. A numerical controller includes a program execution unit that executes a machining program, a program look-ahead unit that looks ahead at the machining program in parallel with execution of the machining program, a theoretical value calculation unit that calculates theoretical values per block in processing time for the machining program from the feed rate of the machine tool and lengths of minute straight lines that make up the machining path followed by the machine tool, a measured value calculation unit that calculates actually measured values per block in the look-ahead time taken by the program look-ahead unit and the processing time for the machining program while the machining program is being executed, and an abnormal block detection unit that detects an abnormal block that is a block at which the result of subtracting the total of the theoretical values from the total of the actually measured values is more than a prescribed value.

To provide a numerical controller that can detect a position in a machining program at which a speed control abnormality is likely to occur due to an insufficient look-ahead blocks that are used to determine an acceleration/deceleration operation, and supplement the look-ahead blocks at that position in order to stabilize feed rate, cutting speed and other factors. A numerical controller includes a required look-ahead blocks setting unit that sets a required look-ahead blocks, which is a look-ahead blocks required to execute a machining program, and an operation limitation unit that compares a look-ahead blocks calculated by a look-ahead blocks calculation unit to the required look-ahead blocks and, if the look-ahead blocks is less than the required look-ahead blocks, limits execution of the machining program until the look-ahead blocks reach the required look-ahead blocks.

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 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.

The trajectory planning system for integrating a computer numerical control (CNC) machine, trajectory planning device, trajectory planning method, and computer program thereof are provided. The aforementioned trajectory planning device includes a determining module. The determining module configures the related processing speed or processing acceleration based on type of the processing segment so as to provide a processing setting. Furthermore, the aforementioned trajectory planning device determines the processing segment whether the linear or circular segment and plans the tangent or normal acceleration of related processing segment so as to optimize the processing setting and finish the high order processing trajectory planning.

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.