Numerical controller capable of neighboring point search with consideration for tool attitude

A numerical controller having a neighboring point search function that moves a tool controlled by at least one moving axis and at least one rotation axis based on a machining program and, when a point present in a predetermined distance preset as a neighboring point distance from a current position of the tool and on a machining path directed by the machining program is defined as a neighboring point, moves the tool to the neighboring point to restart the machining program from the neighboring point, the numerical controller comprising:

• a current tool center point position acquisition unit that acquires a current tool center point position of the tool;
• a current tool attitude acquisition unit that acquires a current tool attitude of the tool;
• a machining program analysis unit that reads a block from the machining program and analyzes the read block;
• a block execution start time tool center point position acquisition unit that acquires a tool center point position at the execution start time of the block based on an analysis result of the machining program analysis unit;
• a distance neighborhood determination unit that determines whether the tool center point position at the execution start time of the block is present in the preset neighboring point distance from the current tool center point position of the tool;
• a block execution start time tool attitude acquisition unit that acquires a tool attitude of the tool at the execution start time of the block based on the analysis result of the machining program analysis unit when the distance neighborhood determination unit determines presence in the neighboring point distance;
• an attitude neighborhood determination unit that determines whether the difference between the tool attitude of the tool at the execution start time of the block and the current tool attitude of the tool is equal to or smaller than a preset value;
• and
• a neighboring point output unit that outputs the tool center point position at the execution start time of the block as the neighboring point when the attitude neighborhood determination unit determines that the difference is equal to or smaller than the preset value, wherein
• the numerical controller reads blocks from the machining program sequentially and analyzes the read blocks until the neighboring point output unit outputs the neighboring point or the machining program is ended.