Patent ID: 6920363

Claim:
A method for acceleration and deceleration control for supplying a movement command during cycles of acceleration and deceleration processing to a servo control section controlling axial movement of axes, the method comprising: determining accelerations by, for each cycle in said acceleration and deceleration processing, determining each acceleration in accordance with a speed obtained at a previous processing cycle, such that a speed-acceleration curve generated by movement commands which are made by the acceleration and deceleration processing will lie along a predetermined speed-acceleration curve, where the predetermined speed-acceleration curve is set for each axis, where said predetermined speed-acceleration curve has different acceleration magnitudes for a given speed magnitude depending on whether an axis is accelerating or decelerating, where the predetermined speed-acceleration curve is predetermined before the generated movement commands, and where for plural speeds of the speed-acceleration curve, corresponding plural accelerations, or corresponding plural decelerations, of the speed-acceleration curve are based on, or equal to, or approximations of corresponding plural accelerations, or decelerations, of the predetermined speed-acceleration curve of the corresponding axis.