Numerical control device

A numerical control device configured to control a machining tool including a plurality of drive shafts based on a machining program for machining a workpiece, the numerical control device comprising:

• a command analysis unit configured to output command data, the command data commanding operation of the drive shaft based on the machining program;
• an acceleration calculation unit in reversing operation, configured to calculate acceleration of the drive shaft before and after the reversing operation such that the time derivative of the acceleration is within a jerk limit, when a direction of the commanded path of the drive shaft based on the command data output by the command analysis unit is reversed;
• a velocity control unit configured to calculate a velocity of the drive shaft at each interpolation cycle based on the command data output by the command analysis unit and the acceleration of the drive shaft before and after the reversing operation calculated by the acceleration calculation unit in reversing operation;
• and
• an interpolation unit configured to execute interpolation process for calculating interpolation data based on the command data output by the command analysis unit and the velocity of the drive shaft calculated by the velocity control unit, the interpolation data designating the position of the drive shaft on a moving path at each interpolation cycle;
• wherein,
• the acceleration calculation unit in reversing operation is configured to calculate the acceleration of the drive shaft before and after the reversing operation when reversal of the commanded path of the drive shaft based on the commanded data is detected by the velocity control unit.