| 摘要 |
PROBLEM TO BE SOLVED: To provide a numerical controller controlling a five-axis machining machine having a workpiece setting error correction means, wherein a rotary shaft after error correction is close to an instruction position and which creates a path passing a singular point without generating large movement of the rotary shaft. SOLUTION: In the numerical controller 10, a setting error of a workpiece is corrected in an error correction part 13 to instruction numerical values (i.e., X, Y, Z, B(A), and C axis positions) analyzed in an instruction analysis part 11, and interpolated and obtained in an interpolation part 12. A singular point passage decision means 15 decides that it is necessary to pass the singular point when an inclination rotary shaft instruction is present on the opposite side over the singular point between two instruction positions of an instruction start point and an instruction end point to each block instruction in program instructions, and notifies a singular point passage path creation means 16 as a flag (F_Ps)=1. When the flag is 1, the singular point passage path creation means 16 creates the path through which an inclination rotary shaft passes the singular point, and outputs it to the error correction part 13. COPYRIGHT: (C)2011,JPO&INPIT |
