S-TYPE SMOOTH COMMAND GENERATING METHOD AND MEANS THEREOF

An S-type smooth command generating method and the means thereof are provided to process the motion commands smoothly, thereby generating continuous velocity commands and position commands. The provided method not only improves the motor's ability of acceleration/deceleration, but also smoothes the operations in the mechanical structure of motor. Besides, in the position control mode, the position tracking of the servo system is enhanced and the steady error of the system is reduced.