COMMAND GENERATION DEVICE

摘要

An acceleration/deceleration jerk zone parameter setting unit (2) divides an acceleration/deceleration zone of an acceleration command curve into an acceleration increasing zone, a constant acceleration zone, and an acceleration decreasing zone, and sets time lengths of the respective zones independently to each other. An acceleration/deceleration jerk zone trigonometric function command generation unit (1) generates a position command or a velocity command using the acceleration command curve on the basis of the trigonometric function of 1/2 cycle.