Numerical controller controlling acceleration and deceleration on basis of stopping distance

A numerical controller for controlling acceleration and deceleration on the basis of a stopping distance, configured to control a machine tool having a plurality of drive axes, a probe being provided on at least one of the drive axes, on the basis of a machining program, and, measure a workpiece by moving the drive axis provided with the probe and the workpiece relative to each other, the numerical controller comprising:

• a command analysis unit configured to output command data specifying an operation of the drive axis on the basis of the machining program;
• an interpolation unit configured to, on the basis of the command data output by the command analysis unit, carry out an interpolation process for calculating interpolation data expressing positions of the drive axis on an operation path in each of interpolation periods;
• an acceleration and deceleration control unit configured to calculate a velocity of the drive axis in each interpolation period on the basis of the command data output by the command analysis unit and the interpolation data calculated by the interpolation unit;
• and
• a stopping distance calculation unit configured to calculate a stopping acceleration of the drive axis, on the basis of a current velocity and acceleration of the drive axis, and,
• the stopping distance calculation unit is configured to calculate an acceleration to stop the drive axis provided with the probe, on the basis of
• a distance that the drive axis provided with the probe moves from the current velocity to a stopped state in the case where the drive axis is stopped at a maximum acceleration at which the machine tool does not receive shock, and
• a stopping distance at which the probe is not be damaged;
• the acceleration and deceleration control unit is configured to calculate a velocity of the drive axis in each interpolation period on the basis of the acceleration to stop the drive axis provided with the probe calculated by the stopping distance calculation unit;
• and
• the interpolation unit is configured to output data that controls the drive axis, on the basis of the interpolation data and the velocity of the drive axis calculated by the acceleration and deceleration control unit.