Method for moving a machine element of an automation machine and a control device

A control device for controlling an overall movement of a machine element of an automation machine, with the overall movement of the machine element being divided into movement sections having a first movement component and a second movement component extending in a common direction, the control device comprising:

• a desired value generating unit which generates, for the movement sections, desired overall movement values controlling the overall movement in the common direction,
• a movement dividing unit which determines from the generated desired overall movement values first desired values for controlling the first movement component and second desired values for controlling the second movement component, and
• a monitoring unit which monitors whether the first and second desired values comply with a predefined movement constraint,
• wherein the control device is configured to generate, if the first and/or second desired values fail to comply with the predefined movement constraint, changed first and/or second desired values for the first movement component and/or the second movement component in an iterative process until the changed first and/or second desired values are in compliance with the predefined movement constraint, and to store the changed first and/or second desired values as new first and/or second desired values for controlling an overall movement of the machine element.