Instruction generating device

An instruction generating device that generates a position instruction of instruction information to drive a machine, the instruction generating device comprising:

• a receiver configured to receive input of a machine performance index comprising at least a target traveling distance, a target traveling time, and a resonance frequency of a vibration to become a vibration control target;
• a storage in which a plurality of vibration control conditional expressions are stored, the plurality of vibration control conditional expressions calculating a parameter of the position instruction suppressing the vibration based on the machine performance index;
• a conditional expression selector configured to select the vibration control conditional expression that should generate the position instruction from the plurality of vibration control conditional expressions based on a control performance index indicating an item to be prioritized during drive control of the machine;
• a parameter calculator configured to calculate the parameter based on the machine performance index and the selected vibration control conditional expression;
• and
• a position instruction generator configured to calculate the position instruction based on the parameter calculated with the parameter calculator.