Device for generating signal for weaving motion, and control device

A device configured to generate a signal for a weaving operation to move a tool along a predetermined work path by a robot along with swinging the tool in a direction intersecting with the work path, the device comprising:

• a weaving signal generation unit configured to generate a weaving signal for causing the robot to swing the tool;
• a time-series data acquisition unit configured to acquire time-series data of an amplitude value of the tool in the direction when the robot is caused to execute the weaving operation in accordance with the weaving signal generated by the weaving signal generation unit;
• a frequency characteristic acquisition unit configured to acquire a first frequency characteristic of the time-series data acquired by the time-series data acquisition unit;
• a resonance determination unit configured to determine whether or not the robot is resonating at a frequency of the weaving signal generated by the weaving signal generation unit, based on the first frequency characteristic acquired by the frequency characteristic acquisition unit;
• and
• a correction unit configured to correct the weaving signal so as to change the frequency when the resonance determination unit determines that the robot is resonating.