主权项 |
1. A numerical controller that controls driving of a movable part of a machine based on a command from a program, and that comprises an interference checking unit that checks an interference between the movable part and another object, the numerical controller being configured to decelerate and stop movement of the movable part when an interference is predicted by the interference checking unit,
the numerical controller comprising: a feedrate override commanding unit configured to command an override value of a feedrate of the movable part; a command analysis unit configured to look ahead and analyze a program to generate look-ahead block command data; and a route calculating unit configured to
calculate a surplus look-ahead period which is a period obtained by adding a surplus period to a look-ahead period which is a period required for the interference checking unit to predict an interference to safely decelerate and stop the movement of the movable part,calculate, based on the look-ahead block command data, at least one surplus look-ahead position of the movable part after the surplus look-ahead period elapses, the surplus look-ahead period corresponding to at least one set override value including at least an approximately maximum override value commandable by the feedrate override commanding unit, andoutput a plurality of surplus look-ahead positions to the interference checking unit, wherein the interference checking unit performs interference check based on the plurality of surplus look-ahead positions. |