COMMAND GENERATION DEVICE, COMMAND GENERATION METHOD

To enable generation of vibration to be suppressed even when having a small amount of movement, and time until positioning is completed to be shortened.SOLUTION: A command generation device 5 is provided with a command input unit 13 that inputs a first command for controlling a servomotor 11, a first intermediate data calculation unit 15 that calculates first intermediate data on the basis of the first command, a delay time setting unit 19 that variably sets, on the basis of the first command, delay time DT at which time until positioning based on the first command when smoothing processing is performed on the first intermediate data is completed is delayed with respect to time until positioning based on the first command when the smoothing processing is not performed on the first intermediate data is completed, a second intermediate data calculation unit 21 that calculates second intermediate data obtained by performing the smoothing processing on the first intermediate data on the basis of the delay time DT, and a command output unit 23 that outputs a second command for controlling the servomotor 11 on the basis of the second intermediate data.SELECTED DRAWING: Figure 2 【課題】微小な移動量の場合でも振動の発生を抑制でき、位置決めが完了するまでの時間を短縮できるようにする。【解決手段】指令生成装置５は、サーボモータ１１を制御するための第１の指令を入力する指令入力部１３と、第１の指令に基づいて第１の中間データを算出する第１中間データ算出部１５と、第１の中間データに平滑化処理を行った場合の第１の指令に基づく位置決めを完了するまでの時間が、第１の中間データに平滑化処理を行わない場合の第１の指令に基づく位置決めを完了するまでの時間に対して遅れる遅延時間ＤＴを、第１の指令に基づいて可変に設定する遅延時間設定部１９と、遅延時間ＤＴに基づいて、第１の中間データに平滑化処理を行った第２の中間データを算出する第２中間データ算出部２１と、第２の中間データに基づいて、サーボモータ１１を制御するための第２の指令を出力する指令出力部２３とを有する。【選択図】図２