Jerk-limitation with adaptation of the path dynamics

A method for controlling the jerk limited velocity of a moving element of a numerically controlled machine, said element having a trajectory which is resolved into directly sequential interpolatable movement sections, comprising the steps of:

• determining a critical natural frequency of the machine element or machine at which the acceleration processes with associated jerk processes which result during the interpolation are situated;
• adapting said acceleration processes such that a time which is traveled with a maximum permissible jerk corresponds substantially to the reciprocal of said critical natural frequency;
• and
• wherein a minimum of natural frequencies of all axes of the trajectory of the machine element serve as the critical natural frequency.