Numerical controller having a tool posture control function for multi-axis machining machines

A numerical controller having a tool posture control function for multi-axis machining machine, which controls a multi-axis machining machine having at least three linear axes and at least three rotation axes including one rotation axis for tool phase control,

• the numerical controller comprising:
• a tool position and posture instruction reading unit that reads a machining program that includes a tool center point position instruction and a tool posture instruction for a tool posture formed on the basis of a tool direction and a tool phase direction;
• a tool position and posture interpolation unit that interpolates smoothly a tool center point position and a tool posture on the basis of the tool center point position instruction and the tool posture instruction, and works out an interpolated tool center point position and an interpolated tool posture formed on the basis of an interpolated tool direction and an interpolated tool phase direction;
• and
• a respective axis positions arithmetic unit that calculates respective axis positions of the at least three linear axes and the at least three rotation axes, on the basis of the interpolated tool center point position and the interpolated tool posture, wherein
• the at least three linear axes and the at least three rotation axes are driven to the respective axis positions.