Machine device (10.1, 10.2) with a tendency to oscillate under a pulse-formed drive load, in particular a storage and retrieval machine, a manufacturing machine, a robot, a crane or the like, comprising - a displaceable unit, - a receptacle means for receiving material to be conveyed or for receiving a load, said receptacle means being coupled to the displaceable unit, - a first drive assembly for moving the displaceable unit along a travel from an initial to an end position, - a control apparatus for controlling the travel motion of the displaceable unit, - wherein the first drive assembly is controlled by way of the control apparatus by predetermining the time curve of a reference variable, namely the temporal acceleration curve, and the device (10.1, 10.2) tends to oscillate during the displacement, said oscillations occurring in the displacement direction, and - wherein the temporal acceleration curve during start-up until a predetermined displacement speed has been reached has a first and second change-of-acceleration region with a positive or negative change-of-acceleration curve (av) and a change-of-acceleration time (tda), referred to as jerk time, and usually one acceleration region (ak) with a constant positive acceleration lying between the first and second change-of-acceleration region in time, and wherein said temporal acceleration curve during braking to standstill has a first and second change-of-acceleration region with a positive and negative change-of-acceleration curve (av) and a change-of-acceleration time (tda), referred to as jerk time, and usually one acceleration region with constant negative acceleration lying between the first and second change-of-acceleration region in time, - wherein the reference variable is adapted in such a way that the oscillations are as small as possible, - characterized in that - a memory apparatus is present, the latter being accessed by the control apparatus, wherein reference variable values are stored in the memory apparatus, said reference variable values providing oscillation-minimized values for the change-of-acceleration curve (av) and/or the change-of-acceleration time (tda), said oscillation-minimized values having been ascertained in advance by simulation calculations and/or by measurements on the respectively specifically physically embodied device, wherein the stored values also take account of drive-specific deviations between the intended and actual acceleration curve of the drive in addition to the simulated natural frequencies, and so all parameters causing the oscillations are captured in order to realize an oscillation avoidance. - a displaceable unit, - a receptacle means for receiving material to be conveyed or for receiving a load, said receptacle means being coupled to the displaceable unit, - a first drive assembly for moving the displaceable unit along a travel from an initial to an end position, - a control apparatus for controlling the travel motion of the displaceable unit, - wherein the first drive assembly is controlled by way of the control apparatus by predetermining the time curve of a reference variable, namely the temporal acceleration curve, and the device (10.1, 10.2) tends to oscillate during the displacement, said oscillations occurring in the displacement direction, and - wherein the temporal acceleration curve during start-up until a predetermined displacement speed has been reached has a first and second change-of-acceleration region with a positive or negative change-of-acceleration curve (av) and a change-of-acceleration time (tda), referred to as jerk time, and usually one acceleration region (ak) with a constant positive acceleration lying between the first and second change-of-acceleration region in time, and wherein said temporal acceleration curve during braking to standstill has a first and second change-of-acceleration region with a positive and negative change-of-acceleration curve (av) and a change-of-acceleration time (tda), referred to as jerk time, and usually one acceleration region with constant negative acceleration lying between the first and second change-of-acceleration region in time, - wherein the reference variable is adapted in such a way that the oscillations are as small as possible, - characterized in that - a memory apparatus is present, the latter being accessed by the control apparatus, wherein reference variable values are stored in the memory apparatus, said reference variable values providing oscillation-minimized values for the change-of-acceleration curve (av) and/or the change-of-acceleration time (tda), said oscillation-minimized values having been ascertained in advance by simulation calculations and/or by measurements on the respectively specifically physically embodied device, wherein the stored values also take account of drive-specific deviations between the intended and actual acceleration curve of the drive in addition to the simulated natural frequencies, and so all parameters causing the oscillations are captured in order to realize an oscillation avoidance.