Abstract: A shift range control device switches a shift range by controlling drive of a motor. An angle calculation unit calculates a motor angle based on a signal from a rotation angle sensor that detects a rotation position of the motor. A drive control unit drives the motor so that the motor angle becomes a target angle according to the target shift range, and stops a rotor by a fixed phase energization, when the motor angle reaches a target angle. When the rotor vibrates with respect to stop position, the drive control unit maintains a state in which a brake torque, which is the torque generated when moving away from center of vibration, is larger than an acceleration torque, which is the torque generated when moving toward the center of vibration, and reduces the current that energizes the motor based on a difference between the brake torque and the acceleration torque.

Abstract: Techniques for controlling operations of a motor based on position errors are described. In an example, a user device sends an amount of electrical current to the motor to cause the motor to move. The user device also determines the motor is in position for a time interval despite the amount of electrical current. Based at least one the time interval and the amount of electrical current, the user device determines a position difference associated with a target position and a measured position of the motor during the time interval, and reduces the amount of electrical current based at least in part on the time interval.

Abstract: A numerical control device according to an aspect of the present disclosure includes: a reference speed calculation unit configured to calculate a spindle speed which is a rotation number of the spindle in accordance with a machining program, and a feed speed which is a movement speed of the feed axis in accordance with the machining program; an oscillation command calculation unit configured to calculate an oscillation command, which is a periodic variation component superimposed on a command of the feed axis, based on the spindle speed and the feed speed, as well as an oscillation frequency magnification set in advance; a setting acquisition unit configured to acquire an upper limit value for frequency of the oscillation command; and an adjustment unit configured to adjust the frequency of the oscillation command, or adjust at least either of the spindle speed and the oscillation frequency magnification, so that the frequency of the oscillation command does not exceed the upper limit value.

Abstract: A mobile image pickup device includes an imaging unit (20), an acceleration and angular velocity detecting unit, a processing unit that processes acceleration and angular velocity information which is detected by the acceleration and angular velocity detecting unit, a reaction wheel that rotates based on a command value which is calculated by the processing unit, and a housing (10) that accommodates the imaging unit (20), the acceleration and angular velocity detecting unit, the processing unit, and the reaction wheel therein.

Abstract: A hover-capable flying machine such as a drone includes a robotic arm extending from the body, and an instrumentality for balancing the machine in response to disturbances such as those caused by picking up and dropping of the payload by the extended robotic arm. In embodiments, the end of the arm is equipped with a balancing rotor assembly that may provide lift sufficient to counteract the weight of the payload and/or of the arm. In embodiments, the machine's power pack is shifted in response to the disturbances. The power pack may be moved, for example, on a rail within and/or extending beyond the machine in a direction generally opposite to the extended arm. The power pack may also be built into a bandolier-like device that can be rolled-in and rolled out, thus changing the center of gravity of the machine.

Abstract: A servo controller 20 includes: an oscillation command generating unit 23 that generates an oscillation command for causing the workpiece W and the tool 14 to relatively oscillate; at least one of a position control unit 22 that generates a position command for causing the workpiece W and the tool 14 to relatively move, a speed control unit 24 that generates a speed command for causing the workpiece W and the tool 14 to relatively move, and a current control unit 25 that generates a torque command for driving the plurality of axes; and a gain changing unit 21 that changes a control gain, in which the oscillation command generating unit 23 transmits a signal outputted when oscillating operation is started to the gain changing unit 21, and the gain changing unit 21 changes the control gain.

Abstract: Controlling a robot may be performed by calculating a desired velocity based on an operator contact force and a robot contact force, calculating a transformation matrix based on an operator pose, a robot pose, a robot trajectory, the operator contact force, and the robot contact force, calculating a least square solution to Jf+{circumflex over (v)}f based on the desired velocity, calculating a scaling factor based on a current joint position of a joint of the robot, calculating a first trajectory based on the least square solution, the scaling factor, and the transformation matrix, calculating the robot trajectory, calculating a joint command based on the robot trajectory and the robot pose, and implementing the joint command.

Abstract: A sample measuring system to reduce waste generated in a plurality of measurement units to be discarded to a common disposal unit while suppressing interference between measurement units due to waste disposal is provided. The sample measuring system includes a first measurement unit and a second measurement unit for measuring a sample, and a common disposal unit for storing waste generated from the first measurement unit and the second measurement unit. The first measurement unit includes a first disposal port connected to the disposal unit for discharging the waste generated in the first measurement unit. The second measurement unit includes a second disposal port connected to the disposal unit for discharging the waste generated in the second measurement unit.

Abstract: An electromotive furniture drive includes an adjustment drive for the electromotive movement of a movable furniture component relative to a further furniture component, a control device, and an operating unit. A motor of the adjustment drive is actuated as a function of signals from the operating unit. The control device includes a semiconductor power switch for switching a motor current of the motor, with a voltage dropping across the semiconductor power switch being supplied to an evaluation unit in order to detect commutation edges of the motor.

Abstract: Disclosed are an electronic apparatus, a display apparatus and a method of controlling the same. The electronic apparatus includes a speaker configured to output a sound; a microphone configured to receive a user voice; a communicator configured to perform communication; and a processor. The processor is configured to: identify a state of an external apparatus through the communicator based on reception of the user voice, process the received user voice and output a sound corresponding to a process result through the speaker based on identification that the external apparatus is in a turned-off state, and control the communicator to transmit information about the received user voice to the external apparatus and request the external apparatus to process the voice based on identification that the external apparatus is in a turned-on state.

Abstract: A method and apparatus for generating a 3D joint point regression model are provided. An embodiment of the method includes: acquiring a sample image with a 2D label and a sample image with a 3D label; training part of channels of an output layer of a basic 3D joint point regression model, with the sample image with the 2D label as a first input, and with a joint point heat map set corresponding to the 2D label as a first expected output; and training all of the channels of the output layer, with the sample image with the 3D label as a second input, with a joint point heat map set corresponding to the 3D label as a first part output of a second expected output and with a joint point depth information map set corresponding to the 3D label as a second part output of the second expected output.

Abstract: A control device according to this disclosure includes: a communication unit configured to communicate with an on-vehicle control device via an in-vehicle communication line; and a control unit configured to control the communication unit. The control unit executes: an acquisition process of acquiring a first time and a second time described below; and a determination process of determining, based on a result of comparison between the first time and the second time that have been acquired, whether or not rollback to a control program before update is necessary in the on-vehicle control device that is updating the control program. First time: a time from a present time in which the control program is being updated to when the update is completed Second time: a time from the present time to when the rollback to the control program before update is completed.

Abstract: Measurement data is managed such that the measurement data can be visualized and recorded in association with a condition set during servo control adjustment. The adjustment device obtains the parameter setting condition and measurement data in association with each other, and saves drawing information based on the measurement data and the setting condition as the same file content.

Abstract: An embodiment of the present disclosure provides an artificial intelligence apparatus for generating training data including a memory configured to store an artificial intelligence model, an input interface including a microphone or a camera, and a processor configured to receive, via the input interface, input data, generate an inference result corresponding to the input data by using the artificial intelligence model, receive feedback corresponding to the inference result, determine suitability of the input data and the feedback for updating the artificial intelligence model, and generate training data based on the input data and the feedback if the input data and the feedback are determined as data suitable for updating of the artificial intelligence model.

Abstract: A method and apparatus for an angle meter cooperatively using two or more non-contact distance meters for measuring distances to a surface along substantially parallel lines. The measured distances are used for estimating or calculating the angle to the surface and the distance to the surface. The distance meters may use optical means, where a visible or non-visible light or laser beam is emitted and received, acoustical means, where an audible or ultrasound sound is emitted and received, or an electromagnetic scheme, where radar beam is transmitted and received. The distances may be estimated using a Time-of-Flight (TOF), homodyne or heterodyne phase detection schemes. The distance meters may share the same correlator, signal conditioning circuits, or the same sensor. Two or more angle meters may be used defining parallel or perpendicular measurement planes, for measuring angles between surfaces, and for estimating physical dimensions such as length, area or volume.

Abstract: The present invention relates to a motor drive apparatus and, more particularly, to a motor drive apparatus capable of immediately restarting by maintaining sensorless control during a stop operation of a motor. The motor drive apparatus comprises: an inverter for driving a motor by using an AC voltage; and a control unit for controlling operations of a switching element included in the inverter. At this time, when a stop command is input, the control unit decreases a duty ratio of a PWM signal until a present speed of the motor becomes smaller than a predetermined minimum speed, thereby decreasing the revolutions per minute of the motor. Then, when a restart command is input in a state where the duty ratio of the PWM signal is decreased, the control unit can immediately restart the motor by increasing the duty ratio of the PWM signal.

Abstract: A substrate processing apparatus includes a transfer device configured to transfer at least one substrate as a processing target; a transfer controller configured to control the transfer device to perform a normal transfer of transferring the substrate and a high-accuracy transfer of transferring the substrate with higher positioning accuracy as compared to the normal transfer; a warm-up controller configured to control the transfer device to perform a warm-up operation, which is different from the normal transfer and the high-accuracy transfer, when necessary; and a necessity determination unit configured to make a determination that the warm-up operation is required as a beginning of the high-accuracy transfer is approaching when a duration of a stop state of the transfer device exceeds a preset reference time.

Abstract: A robotic system and methods are provided. The robotic system includes a tool and a manipulator with links for moving the tool. A controller implements a virtual simulation wherein the tool is represented as a virtual volume interacting with a virtual boundary defined by a mesh of polygonal elements. The controller computes a reactive force responsive to penetration of polygonal elements by the virtual volume. The reactive force is computed based on a penetration factor being a function of a geometry of the virtual volume bound relative to a geometry of the polygonal element. The controller applies the reactive force to the virtual volume to reduce penetration of the polygonal element by the virtual volume. The controller commands the manipulator to move the tool in accordance with application of the reactive force to the virtual volume to constrain movement of the tool relative to the virtual boundary.

Abstract: The present invention provides a control device that executes model predictive control related to a predetermined control target corresponding to an actual target device which is an actual target of servo control in order to cause an output of the actual target device to track a predetermined command. The control device includes: an integrator which receives input of a deviation between the predetermined command and an output of the predetermined control target; and a model predictive control unit which has a prediction model that defines a correlation between a predetermined state variable and an input to the predetermined control target in a form of a predetermined state equation, and which performs model predictive control based on the prediction model according to a predetermined evaluation function in a prediction section having a predetermined time width using the output of the integrator as an input.

Abstract: In order to improve usability during parameter adjustment, this adjustment device performs a simulation in which a set value of a servo parameter received during a slide operation period of a slider bar is reflected in a FFT analysis result of response characteristics of speed control or position control, and the simulation display of the frequency characteristics and phase characteristics is updated on the adjustment screen.

Abstract: In order to carry out largely automated parameterisation of the closed-loop control parameters for closed-loop control of a hydraulic system comprising a servo drive, a method and a device for determining the closed-loop parameters of a closed-loop control unit of the hydraulic system are specified, wherein an actual system pressure of a hydraulic consumer of the hydraulic system is closed-loop controlled by means of a predefined set point rotational speed of a servo drive, wherein an actual rotational speed of the servo drive follows the predefined set point rotational speed, wherein an excitation signal is applied to the setpoint rotational speed, and the actual system pressure which is set here is measured, the dynamics of the hydraulic system are acquired from the actual rotational speed and/or the setpoint rotational speed and the actual system pressure, and the closed-loop control parameters are calculated from the acquired dynamics.

Abstract: A motor control apparatus drives an inverter which supplies and receives electric power with respect to a motor by pulse width modulation. The motor control apparatus sets a frequency of a carrier such that a frequency of a sideband wave component of the carrier which is used for the pulse width modulation and a frequency of a predetermined rotation order of the motor become different from each other.

Abstract: A machine control device is configured to include a measurement unit that measures regarding a state of a controlled object handled by a machine apparatus, a determination unit that determines a constraint determination value by comparing the measurement result by the measurement unit with a predetermined constraint condition, control units and that perform operation control for the machine apparatus based on the constraint determination value determined by the determination unit according to the relationship set for the constraint determination value and the operation control, and a learning unit that reconfigures the relationship between the constraint determination value and the operation control when the constraint determination value changes due to the operation control performed by the control units.

Abstract: The machine tool includes a table, a spindle, first and second feed motors relatively moves the table and the spindle in a first direction and a second direction, and a control unit which positions cutting positions of a workpiece with respect to a tool by controlling the first feed motor, and moves a distal end of the tool between a distant position and a predetermined depth position of the workpiece by controlling the second feed motor, and the control unit performs a process in which the cutting position is positioned after cutting of the cutting position is completed, a second process in which the distal end of the tool is moved from the distant position to the predetermined depth position, and a third process in which the distal end of the tool is moved from the predetermined depth position to the distant position.

Abstract: Method and apparatus for rendering a visual representation based on a musculoskeletal representation. The method comprises updating the musculoskeletal representation based, at least in part, on a plurality of neuromuscular signals recorded from a user, wherein the musculoskeletal representation is updated based at least in part on: position information describing a spatial relationship between two or more connected segments of the musculoskeletal representation, and force information describing a force exerted by at least one segment of the musculoskeletal representation, and rendering, via a user interface, the visual representation based on the updated musculoskeletal representation, wherein the visual representation includes a visual indication of the position information and a visual indication of the force information.

Abstract: O2O (Offline to Online) Management System is a computer-implemented service which manages the operation and interaction among the brick-and-mortar stores, merchants, warehouse and product providers. It also manages the purchase transactions by the customers at online marketplace and the brick-and-mortar stores. Unlike the online shopping services which provide only storefront Web access, the O2O Management System integrates the transaction and operation of online marketplace, brick-and-mortar retail stores, merchants, warehouses and product providers with a network of computer systems, such as internet. The transaction of O2O Management System occurs in the combination of physical retail facility (retail store) and internet.

Abstract: In some examples, a device includes a nanovoided polymer element, a planarization layer disposed on a surface of the nanovoided polymer element, a first electrode disposed on the planarization layer, and a second electrode. The nanovoided polymer element may be located at least in part between the first electrode and the second electrode. The planarization layer may be located between the nanovoided polymer element and the first electrode.

Abstract: A device (1) for exchanging at least one cutting component (2a) of a rotating tool (2), in particular a milling tool (2), and more particularly, a hollow milling tool for machining workpieces made of plastic. The device has an aligning device (5) for orientating a position of the cutting component (2a) relative to a rotational axis (2c) of the tool (2) and an exchanging device (6) for releasing the cutting component (2a) from a part (2b) that remains on the tool (2) and for attaching another cutting component (2a) to the part (2b) that remains on the tool (2).

Abstract: An illustrative example embodiment of a method of communicating between controllers on a vehicle includes communicating a first operation request from a first controller to a second controller. The first operation request is indicative of the second controller performing a first operation. The second controller attempts to perform the first operation at a time when it cannot be performed, determines that the first operation cannot be performed, and communicates an indication that the first operation request cannot currently be satisfied. The second controller continues to attempt to perform the first operation at a subsequent time.

Abstract: A switching type control method based on a double loop predictive control is provided. A deadbeat control is adopted by the outer loop control. The switching type control method is adopted by the inner loop control. When the system is in the steady state, the deadbeat control by an inner loop is adopted to ensure the steady state accuracy of the system and to achieve the fixed switching frequency. When the system is in the transient state, it is switched to the finite control set model predictive control by the inner loop to ensure the rapid transition of the system to the steady state.

Abstract: To provide a parameter determination support device and a program capable of simplifying determination of driving parameters upon driving a motor for which the slip constant is unknown.

Abstract: An adjustment necessity determination device is an adjustment necessity determination device that makes a determination, after a workpiece is machined, about a necessity to make an adjustment of a deviation of the axis position of each axis of a machine tool that has performed the machining and includes: a data acquisition unit that acquires a physical quantity relating to a cause of a deviation of the axis position of each axis of the machine tool, the physical quantity observed at the time of the machining; a time-series data storage unit that stores the physical quantity as time-series data; and an adjustment necessity judgement unit that makes a judgment about a necessity to make an adjustment of a deviation of the axis position of each axis of the machine tool based on the time-series data.

Abstract: A control system includes an electronic control unit including a feedback controller and a reference governor. The feedback controller is configured to determine a value of control input such that a value of control output approximates a target value. The reference governor is configured to calculate, with a prediction model, a predicted maximum value of an overshoot amount of the control output that overshoots from the target value. The prediction model is derived assuming that an n-th delay (n is a natural number) occurs in a response of the control output. The reference governor is configured to calculate the target value by correcting the provisional target value of the control output based on the predicted maximum value so as to increase a degree of satisfaction of a constraint condition with regard to the control output.

Abstract: The present invention relates to a method for optimizing the productivity of a machining process of at least one CNC (Computer Numerical Control) machine, the CNC machine comprising at least one machining tool movable by one or a plurality of drive axes, the machining process being controlled by a given NC (Numerical Control) program defining at least a tool path for the at least one machining tool and a path velocity profile along the tool path, wherein the method includes increasing the path velocity along the tool path as compared to the path velocity profile defined by the given NC program, wherein increasing the path velocity along the tool path is effected in due consideration of the respective dynamical limit of each of the one or the plurality of drive axes, in particular in due consideration of the maximum axis-velocity and the maximum axis-acceleration of each of the one or the plurality of drive axes, and in due consideration of processing limits affecting the path velocity due to the machining cap

Abstract: An actuator of a camera module includes a comparison unit sequentially calculating each error value by comparing a target position with a current position of a lens barrel, a controller integrated circuit (IC) generating a control signal by applying a control gain based on a proportional-integral-derivative (PID) control scheme to each error value sequentially input thereto from the comparison unit, and a driving circuit unit generating a driving signal in response to the control signal to move the lens barrel to the target position, wherein the controller IC changes the control gain in response to the error values sequentially input including both overshoot and undershoot.

Abstract: A numerical controller, which is configured to correct a machine position error based on a torque difference between a master axis and a slave axis, acquires the torque difference after movement of the master and slave axes that move in response to a movement command, and corrects the machine position error by a correction amount based on a value obtained by excluding a torque difference derived from a mechanical strain from the acquired torque difference. The corrected machine position error is added to the movement command for next time.

Abstract: The subject matter of this specification can be embodied in, among other things, a control apparatus includes a first mounting member, an elongate member having a first elongate portion, a second elongate portion, a first axis member between the first elongate portion and the second elongate portion, pivotally mounting the elongate member to the first mounting member and defining a first axis, a track configured as an arc defined about the first axis, and a first feedback assembly supported upon the second elongate portion and providing a first interface device configured to travel along the track in response to movement of the second elongate portion partly about the first axis, wherein the mass of the second elongate portion and the first feedback assembly substantially offsets the mass of the first elongate portion about the first axis member.

Abstract: The invention relates to a method for determining the position of an actuating element (3) in a positioning system (1), having the following steps: —continuously detecting a signal profile of a sensor signal from an acceleration sensor (7) which is fitted to an electric-motor actuating drive (5) of the positioning system (1), in order to detect an acceleration on account of a force excitation by a detent torque and/or an imbalance of a rotor of the electric-motor actuating drive; —evaluating the signal profile in order to detect an oscillation; —determining the position of the actuating element (3) on the basis of the detection of the oscillation.

Abstract: A memory system includes a first nonvolatile memory, a first processor, and a second processor. The first processor sets a first assignment amount. The second processor performs access to the first nonvolatile memory, calculates a consumed amount which is an amount according to an operation time of the first nonvolatile memory in the access, and transmits a notification to the first processor when the consumed amount reaches the first assignment amount.

Abstract: A sheet conveying apparatus includes a second conveying roller adjoining a motor driven first conveying roller, a phase determiner to determine a rotational phase of a rotor of the motor, a controller, and a discriminator. The controller controls a drive current flowing through a winding of the motor to reduce phase deviation. The discriminator executes a discrimination regarding one of whether a front end of a sheet has reached a nip portion and whether a rear end of the sheet has passed through a nip portion. The controller controls such that the first conveying roller rotates at a first conveying roller peripheral velocity which is different from a peripheral velocity of the second conveying roller. The discriminator executes the discrimination based on a value of a parameter corresponding to a load torque applied to the rotor where the first conveying roller rotates at the first conveying roller peripheral velocity.

Abstract: A data storage device is disclosed comprising a head actuated over a disk comprising servo data for defining a plurality of data tracks, including consecutive data tracks N?1, N, and N+1. Data is written to data track N using a position error signal (PES) generated by reading the servo data, and a read track trajectory for data track N is generated based on the PES of the write. Data is read from data track N based on the read track trajectory for data track N.

Abstract: A monitoring device of a robot system including: a current sensor detecting a value of a current flowing through the servo motor; a current/torque converting the value of the current flowing through the servo motor which is detected by the current sensor into a torque value; a driving torque estimating section estimating at least a part of driving torque required to drive the servo motor; a differential torque calculating differential torque between the torque value obtained by conversion in the current/torque converting section and an estimated value of the driving torque; an external force converting the differential torque calculated by the differential torque calculating section into an external force applied to the robot; and a stop signal generating section which generates to stop the robot based on a value of the external force obtained by conversion in the external force converting section, and supplies the stop signal to the controller.

Abstract: Aspects of the disclosure provide for a controller of a system. The controller is configured to apply a drive to transition the system from a first state to a second state and to continually adjust the drive in response to a detected disturbance quantity in real-time by performing a loop until the system is in the second state. The loop comprises determining a predicted state of the system at a given instance based on the obtained current state of the system and the applied drive, obtaining the current state of the system at the given instance using one or more sensors, determining a disturbance quantity amount based on a difference between the predicted state at the given instance and an actual state of the system at the given instance, determining an adjustment to the drive based on the disturbance quantity amount, and applying the adjusted drive to the system.

Abstract: The present disclosure provides a transmission hysteresis detecting method and apparatus. The method includes: transmitting a forward rotational instruction and a reverse rotational instruction to a motor of the servo; storing motor end positions of the motor and output shaft end positions of an output shaft corresponding to the motor in a forward rotational cycle and a reverse rotational cycle, respectively; generating first position data based on the motor end positions and the corresponding output shaft end positions in the forward rotational cycle; generating second position data based on the motor end positions and the corresponding output shaft end positions in the reverse rotational cycle; and calculating a transmission hysteresis of the servo based on the first position data and the second position data. The technical solutions of the present disclosure only needs to obtain the position data of one forward rotational cycle and one reverse rotational cycle.

Abstract: A position forecasting apparatus for forecasting a position at a predetermined time of a continuously operating moving body is provided with an estimation part that finds an estimated position state of the moving body at a time in the past before the predetermined time and a position forecasting part that forecasts the position of the moving body at the predetermined time based on the estimated position state of the moving body estimated by the estimation part.

Abstract: An apparatus may include a circuit including a filter configured to update one or more adaptive coefficients of the filter based on an error signal. Further, the circuit may update a constrained coefficient of the filter based on the one or more adaptive coefficients, the constrained coefficient and a desired value. Moreover, the circuit may generate a sample of a sample sequence based on the one or more adaptive coefficients and the updated constrained coefficient, the error signal being based on the sample sequence.

Abstract: A robot arm apparatus is provided and includes: an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit; and a driving control unit that drives the arm unit by controlling driving of the joint unit. If a malfunction is detected in at least one of the joint unit, the driving control unit controls the driving of the joint unit in a state in which a certain restriction is imposed on motion of the arm unit, and drives the arm unit to avoid the malfunction.

Abstract: A method of machining a workpiece may include continuously rotating the workpiece, continuously rotating a tool having at least one cutting surface, and positioning the tool relative to the workpiece so that the at least one cutting surface engages the workpiece at a first discrete location at a periphery of the workpiece. The method may further include continuing to rotate the workpiece and the tool so that the at least one cutting surface engages a second discrete location at the periphery of the workpiece, and controlling a tool surface velocity VT relative to the workpiece surface velocity VW so that the first and second discrete locations are discontinuous. The tool may make multiple iterative passes over the workpiece to engage subsequent discrete locations, wherein the first discrete location, second discrete location, and multiple subsequent discrete locations may form a machined surface that extends continuously around the workpiece.

Abstract: An aircraft fault detection system including at least one aircraft data logging device configured to capture parametric flight data from at least one aircraft subsystem, and an aircraft controller coupled to the data logging device. The controller being configured to group the parametric flight data from the at least one aircraft subsystem into a plurality of test states, one or more of the test states being different from other test states in the plurality of states, generate at least one test transition matrix based on the plurality of test states and determine anomalous behavior of the at least one aircraft subsystem based on the at least one test transition matrix, and forecast faults within the at least one aircraft subsystem based on the anomalous behavior of the at least one aircraft subsystem determined from the at least one test transition matrix.

Abstract: The machine tool according to the present invention has: a function to set upper limits and lower limits for cutting conditions including a cutting width, a cutting depth, and a cutting load of a tool; a function to set a range and a modification condition of the machining program modifying the cutting width or the cutting depth of the tool; a function to modify, based on the modification condition, a movement amount of a block that orders a feeding operation of the machining program; a function to calculate a load imposed upon cutting, based on a cutting condition obtained prior to modification of the machining program and a variation in the modified movement amount; and a function to determine whether or not the calculated load and the modified movement amount fall within the set ranges between the upper limits and the lower limits of the cutting width or cutting depth and the cutting load.