Numerical controller

Abstract

Provided is a numerical controller that can suppress a sudden change in the angle of a rotary axis in the vicinity of a singular point and can also be compatible with any machine configuration. A numerical controller for numerically controlling a designated direction of an axis of a movement axis member by two or more rotary axes. The numerical controller comprises a singular point distance calculation unit for calculating each singular point distance from a rotary axis direction of each of the two or more rotary axes and the designated direction based on an operation command, a rotary axis extraction unit for extracting a control rotary axis for controlling the designated direction based on the singular point distance calculated by the singular point distance calculation unit, and a pulse generation unit for generating a pulse for driving the control rotary axis based on the control rotary axis extracted by the rotary axis extraction unit. The rotary axis extraction unit compares the singular point distances with a preset threshold to extract, as the control rotary axis, the rotary axis exceeding the threshold, or comparing the singular point distances with each other to extract the rotary axis having a larger singular point distance as the control rotary axis.

Dependencies are inferred from the claim text.