Numerical control device with manual handle configured based on control mode

A numerical control device for controlling a machine tool having a manual handle that moves an axis by manual operation, the numerical control device comprising:

• a processor,
• wherein the processor is configured to
• determine a control mode of the machine tool;
• cause haptic feedback to be generated in the manual handle based on the determined control mode;
• perform control of the machine tool by the numerical control device according to a rotation operation of the manual handle in which the haptic feedback is generated;
• set action definition data that defines the haptic feedback to be generated in the manual handle;
• select a type of the haptic feedback based on the action definition data and the control mode;
• and
• decide a parameter related to the haptic feedback based on the type of the haptic feedback,
• wherein the selected type of the haptic feedback is resistance tactile sense, and the processor generates the haptic feedback using the parameter so that at least one of:
• the resistance tactile sense decreases at one or more specific detent positions of the manual handle relative to other positions of the manual handle, or
• the resistance tactile sense increases at one or more specific non-detent positions of the manual handle relative to other positions of the manual handle.