Control method for jerk-limited speed control of a movable machine element of a numerically controlled industrial processing machine

A control method for controlling a speed of a movable machine element of a numerically controlled industrial processing machine with jerk limitation, comprising the steps of:

• decomposing a travel path of the movable machine element into a plurality of sequentially arranged, interpolatable travel sections;
• determining jerk profiles for the interpolatable travel sections;
• and
• modifying the jerk profiles with a parameter-dependent shape function obtained by adding a rectangular shape function and a cos2 or sin2 shape function, with the modified jerk profile in a corresponding travel section providing a filter action represented by a bandpass filter having at least one blocking frequency,
• wherein the rectangular shape function and the cos2 or sin2 shape function are each adjusted with a respective parameter, so that the at least one blocking frequency of the bandpass filter corresponds substantially to a characteristic frequency of the machine element.