A speed adjustment support device calculates a jerk per unit time based on a difference in acceleration for each axis of an industrial machine between control cycles, compares the calculated jerk with an allowable jerk for each axis stored in advance, produces exceedance information including at least an exceeding state and an improvement means in a case of jerk exceedance as a result of the comparison, and supports work of adjusting a parameter related to speed of the industrial machine based on the exceedance information.

A numerical control device includes a command analysis unit, an acceleration calculation unit in reversing operation, a velocity control unit, and an interpolation unit. 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.

A machine control system includes a first movable element configured to be driven by a first motor, a second movable element configured to be driven by a second motor which is connected to the first motor so that a jerk to be generated by the first motor is applied to the second movable element, and control circuitry configured to generate a first control command to control the first motor and to generate a second control command to control the second motor according to the jerk.

A machine control system includes a first movable element configured to be driven by a first motor, a second movable element configured to be driven by a second motor which is connected to the first motor so that a jerk to be generated by the first motor is applied to the second movable element, and control circuitry configured to generate a first control command to control the first motor and to generate a second control command to control the second motor according to the jerk.

There is provided a control apparatus for controlling a device having a movable unit movable by a plurality of drive shafts. The control apparatus includes: target trajectory generation means for generating a target trajectory for a movement section defined by a start point and an end point; remaining distance estimation means for estimating a remaining distance along the target trajectory from a current position to the end point; acceleration calculation means for calculating an acceleration involved in varying a current movement velocity of the movable unit to a target velocity corresponding to a movement velocity to be satisfied by the movable unit at the end point of the target trajectory, such that a distance that the movable unit will have traveled substantially matches the remaining distance; and movement velocity updating means for calculating a new target movement velocity value by correcting the current movement velocity with the acceleration calculated.

A speed adjustment support device calculates a jerk per unit time based on a difference in acceleration for each axis of an industrial machine between control cycles, compares the calculated jerk with an allowable jerk for each axis stored in advance, produces exceedance information including at least an exceeding state and an improvement means in a case of jerk exceedance as a result of the comparison, and supports work of adjusting a parameter related to speed of the industrial machine based on the exceedance information.