Provided is a control device for a machine tool, the control device being capable of more appropriately and easily determining a swing condition. A control device 10 for a machine tool for swinging a work piece and a tool relatively to each other to perform machining, the control device 10 comprising a storage unit 15 which stores correspondence between a machining condition and a swing condition, the machining condition being at least one of specifications of the work piece, specifications of the tool, a machining method and a machining shape, a swing condition determination unit 16 which selects a swing condition to be used for the machining on the basis of the correspondence stored in the storage unit 15, and a swing command generation unit 18 which generates a swing command on the basis of the swing condition selected by the swing condition determination unit 16.

To provide a controller for a machining device capable of making the machining device make oscillating motion along a command route. A controller controls a machine tool comprising multiple control axes and used for machining by cutting of a work as a machining target. The controller comprises: a position command acquiring unit that acquires a position command directed to a servo motor for driving a cutting tool or a position command directed to a servo motor for driving the work; a rotation speed acquiring unit that acquires a rotation speed such as that of the cutting tool; an oscillation amplitude calculating unit that calculates oscillation amplitude based on the position command and the rotation speed; an oscillation frequency calculating unit that calculates an oscillation frequency based on the rotation speed; an oscillation command calculating unit that calculates an oscillation command based on the oscillation amplitude and the oscillation frequency; a position command storage unit that stores a command route determined based on the oscillation amplitude; an oscillation command correcting unit that corrects the oscillation command based on the command route; and a driving unit that determines a drive signal to be used for driving the servo motor based on the position command and the corrected oscillation command, and outputs the drive signal.

A controller including: a positional deviation calculating unit that calculates positional deviation using a position command directed to a servo motor for driving a cutting tool, etc., and a position feedback value corresponding to the position of the cutting tool, etc.; an oscillation command calculating unit that calculates an oscillation command using the position command and a spindle axis angle of the rotated work, etc., or using the position feedback value and the spindle axis angle; an oscillation offset calculating unit that calculates an offset for the oscillation command using the positional deviation, the oscillation command, and the spindle axis angle; and a driving unit that determines a drive signal for the servo motor based on the positional deviation, the oscillation command, and the oscillation offset, and outputs the drive signal.

A controller of a machine tool includes: a position command calculation unit which calculates a position command for relatively moving a workpiece and a tool; an oscillation operation execution determination unit which analyzes a machining program and which determines whether or not an oscillation operation of relatively oscillating the workpiece and the tool is performed in a machining block; an oscillation operation intermittent execution determination unit which determines, when it is determined that the oscillation operation is performed, in the machining block, based on the state of the machine tool, whether the oscillation operation is enabled or disabled so as to determine whether or not the oscillation operation is intermittently performed; an oscillation command calculation unit which calculates, when it is determined that the oscillation operation is enabled, an oscillation command for relatively oscillating the workpiece and the tool; and an adder which adds the position command and the oscillation command together.

A numerical control device according to an embodiment of the present disclosure is a numerical control device for controlling at least two oscillating drive axes which linearly drive so as to cause mutually differing targets to change speed regularly at a fixed period, based on a machining program, in which the numerical control device controls the at least two oscillating drive axes so as to keep fixed a phase difference of periodic variable components of the at least two oscillating drive axes.

To provide a numerical controller for a machine tool capable of shredding chips efficiently along one path by making oscillating motion involving synchronization between multiple axes and intermittently making cutting-out motion and cutting-in motion. A controller is for a machine tool used for thread cutting of a work as a target of the thread cutting using multiple axes, comprising: a movement command generation unit that generates a movement command for the multiple axes; an oscillation command generation unit that generates an oscillation command for causing a work rotary axis, a tool feed axis, and a radial direction motion axis to make oscillating motion involving synchronization between these three axes, the oscillation command being for causing a cutting tool to make motion of departing from the work while making cutting-out motion on the work and make cutting-in motion on the work intermittently; and an adder that adds the movement command and the oscillation command and outputs a total movement command resulting from the addition.

A controller has a function of stopping an oscillation motion in a non-cutting section in oscillation cutting and includes an oscillation command creation unit and an oscillation command creation determination unit. The oscillation command creation unit outputs an oscillation command, and the oscillation command creation determination unit determines whether or not cutting of a workpiece by a tool is actually being performed and stops an output of the oscillation command during non-cutting.

A numerical control device according to an embodiment of the present disclosure is a numerical control device for controlling at least two oscillating drive axes which linearly drive so as to cause mutually differing targets to change speed regularly at a fixed period, based on a machining program, in which the numerical control device controls the at least two oscillating drive axes so as to keep fixed a phase difference of periodic variable components of the at least two oscillating drive axes.

A controller of a machine tool includes: a position command calculation unit which calculates a position command for relatively moving a workpiece and a tool; an oscillation operation execution determination unit which analyzes a machining program and which. determines whether or not an oscillation operation of relatively oscillating the workpiece and the tool is performed in a machining block; an oscillation operation intermittent execution determination unit which determines, when it is determined that the oscillation operation is performed, in the machining block, based on the state of the machine tool, whether the oscillation operation is enabled or disabled so as to determine whether or not the oscillation operation is intermittently performed; an oscillation command calculation unit which calculates, when it is determined that the oscillation operation is enabled, an oscillation command for relatively oscillating the workpiece and the tool; and an adder which adds the position command and the oscillation command together.

A method of positioning a component in a desired position on a board is provided. The method includes the steps of: (a) picking up the component with a nozzle of a movable placement unit of a pick and place machine; (b) transporting the component towards the board as a function of the desired position; (c) obtaining sensor data about an orientation of the component with respect to the nozzle with a sensor of the placement unit; (d) obtaining in the sensor rotational data about the orientation of the nozzle with respect to the placement unit; (e) combining in the sensor the sensor data and the rotational data into a data set; (f) sending the data set from the sensor to a stationary computer and computing a correction instruction in the stationary computer; and (g) placing the component on the board as a function of the correction instruction from the stationary computer.