To provide a motion controller which permits the acceleration of processing and high-accuracy control without requiring fraction processing even when S-shaped curve acceleration/deceleration control is performed with a digital filter operation.

A motion controller 1 outputs a motion command to a motor amplifier 2 so that the difference between a positioning command and a current position fed back by an encoder 4 for detecting the rotation of a motor 3 may be zero. Thus, the servo motor 3 moves a controlled system to a target position. The controller 1 has a profiler 11 for generating out a target positioning coordinate at each sampling time for moving the controlled system to the target position with a specified acceleration, speed and deceleration. S-shaped curve acceleration/deceleration processing is performed through a digital filter 12 to a target coordinate value provided from the profiler 11.