A controller for controlling a synchronized operation of spindle and feed axes. A spindle-axis control section includes an initial-motion control section for accelerating a spindle axis from a starting position; a maximum-acceleration detecting section for detecting a maximum acceleration of the spindle axis during acceleration; a residual rotation-amount detecting section for detecting a residual rotation amount of the spindle axis; a current-speed detecting section for detecting a current speed of the spindle axis; a decelerating-motion control section for decelerating the spindle axis to reach an intermediate speed, after the acceleration; a positioning-motion control section for decelerating the spindle axis to reach the target position after reaching the intermediate speed; and a torque-command limiting section for limiting a fluctuation of a torque command of the position control, instructed to the spindle axis, to a predetermined range over a period until a predetermined elapse condition is satisfied after reaching the intermediate speed.

A method and apparatus are provided to rehabilitate and beautify cracked concrete surfaces by adding channels to the surface.

A numerical controller has a tool retraction function for retracting a tool so as not to damage the machined surface of a workpiece when machining of the workpiece by a machine tool is interrupted. The numerical controller identifies a machining method for the machining to be interrupted when a command to interrupt the machining is detected, determines the direction of the retraction of the tool, based on the identified machining method and the feed direction and the rotation direction of a spindle in the machining to be interrupted, and generates a movement path of the tool in the determined retraction direction.

A controller for controlling a synchronized operation of spindle and feed axes. A spindle-axis control section includes an initial-motion control section for accelerating a spindle axis from a starting position; a maximum-acceleration detecting section for detecting a maximum acceleration of the spindle axis during acceleration; a residual rotation-amount detecting section for detecting a residual rotation amount of the spindle axis; a current-speed detecting section for detecting a current speed of the spindle axis; a decelerating-motion control section for decelerating the spindle axis to reach an intermediate speed, after the acceleration; a positioning-motion control section for decelerating the spindle axis to reach the target position after reaching the intermediate speed; and a torque-command limiting section for limiting a fluctuation of a torque command of the position control, instructed to the spindle axis, to a predetermined range over a period until a predetermined elapse condition is satisfied after reaching the intermediate speed.

A tool track display device includes a position information acquisition unit which acquires position information of at least one drive axle from a numerical control device and a position sensor provided on the at least one drive axle, a tool coordinate calculation unit which calculates coordinate values of the tool based on the position information of the at least one drive axle and information regarding the mechanical structure of a machine tool, a display attribute modification unit which modifies the display attribute of the tool track in accordance with the motion direction of the tool, and a display unit which displays the tool track based on the coordinate values of the tool calculated by the tool coordinate calculation unit and the display attribute modified by the display attribute modification unit.

A numerical controller has a tool retraction function for retracting a tool so as not to damage the machined surface of a workpiece when machining of the workpiece by a machine tool is interrupted. The numerical controller identifies a machining method for the machining to be interrupted when a command to interrupt the machining is detected, determines the direction of the retraction of the tool, based on the identified machining method and the feed direction and the rotation direction of a spindle in the machining to be interrupted, and generates a movement path of the tool in the determined retraction direction.

A numerical controller which controls a five-axis machining machine having two rotary axes generates speed data for deceleration stop along movement paths when a stop signal that requires interruption of machining and retraction is sensed, and based on the speed data, generates stop retraction path command data combining a path for the deceleration stop along the movement paths and a retraction path receding from the movement paths.

A method and apparatus are provided to rehabilitate and beautify cracked concrete surfaces by adding channels to the surface.