Cam curve generating device and cam curve generating method

A cam curve generating device that generates a cam curve for controlling a position of a driven shaft of a motor, the cam curve generating device comprising:

• one or more memories;
• and
• at least one processor coupled to at least one of the one or more memories and configured to perform operations comprising:
• acquiring a boundary condition of an application section to be a target of generation of the cam curve in a range in which a main shaft changes in position,
• acquiring a division condition for dividing the application section into a plurality of sub-sections,
• dividing the application section into the plurality of sub-sections that satisfy the division condition,
• generating the cam curve in the application section, the cam curve satisfying the boundary condition, and
• causing a servo control device to drive the motor based on the cam curve,
• wherein
• each of the plurality of sub-sections is any one of types of an increasing sub-section in which acceleration of the driven shaft monotonously increases, a decreasing sub-section in which the acceleration of the driven shaft monotonously decreases, and a constant sub-section in which the acceleration of the driven shaft does not change,
• the division condition includes a length and a type of each of the plurality of sub-sections,
• the boundary condition includes a position of the driven shaft, a speed of the driven shaft, and the acceleration of the driven shaft at each of a start and an end of the application section, and
• the generating comprises generating the cam curve that allows a position of the driven shaft, speed of the driven shaft, and the acceleration of the driven shaft to be continuous at each of boundaries of the plurality of sub-sections.