Numerical controller for retraction control

A numerical controller which controls a machine tool by analyzing and executing a machining program to machine a workpiece, the machine tool comprising at least two linear axes and at least one rotary axis, the numerical controller comprising:

• a command reading unit configured to read and analyze the machining program and generate command data indicative of movement paths for the linear and rotary axes;
• a stop signal sensing unit configured to sense a stop signal which requests interruption of machining by the machine tool and retraction of the machine tool;
• a deceleration stop unit configured to generate speed data for decelerating and stopping the linear and rotary axes along the movement paths when the stop signal is sensed by the stop signal sensing unit;
• a stop-retraction path generation unit configured to generate stop retraction path command data indicative of a stop retraction path, the stop retraction path being a combination of a path for decelerating and stopping the linear and rotary axes along the movement paths and a retraction path receding from the movement paths, based on the command data generated by the command reading unit and the speed data generated by the deceleration stop unit, when the stop signal is sensed by the stop signal sensing unit;
• and
• an interpolation unit configured to obtain, for each of the linear and rotary axes, a position of the axis for each interpolation period based on the stop retraction path command data generated by the stop-retraction path generation unit, when the stop signal is sensed by the stop signal sensing unit,
• the numerical controller controlling the machine tool along the stop retraction path.