Control device for industrial machine

A control apparatus for controlling movement of a movable unit of an industrial machine based on a program, the program including, for each block, an instruction about a movement path of the movable unit and an instruction about a movement speed of the movable unit, the control apparatus comprising:

• an instructed path generation unit configured to generate an instructed path for the movement path of the movable unit based on an instruction from the program;
• a drive control unit configured to control a drive unit that drives the movable unit, the drive control unit being capable of performing forward movement operation of causing the movable unit to move along the instructed path, based on the instructed path generated by the instructed path generation unit and an instructed speed based on the movement speed indicated by the instruction from the program, and reverse movement operation of causing the movable unit to reversely move along the instructed path, based on an instructed reverse path and an instructed reverse speed;
• an actual forward path prediction unit configured to predict an actual forward path from the instructed path, using a machine model associated with a transfer characteristic of the industrial machine;
• an instructed reverse path generation unit configured to generate the instructed reverse path by reversing a movement direction of the actual forward path;
• an actual reverse path prediction unit configured to predict an actual reverse path from the instructed reverse path, using the machine model;
• and
• an instructed speed adjustment unit configured to adjust an instructed speed based on the movement speed indicated by the instruction from the program so as to reduce an error of the actual reverse path with respect to the instructed reverse path, and generate the instructed reverse speed.