trolley speed pattern operation unit 2 carries out operation of a trolley position instruction by integrating thus obtained trolley speed instruction with respect to time and then outputs the trolley speed instruction and trolley position instruction to the trolley driving unit 110 as a trolley speed pattern the function of the deceleration initiation distance operation unit 5 will be explained later a hoist speed pattern operation unit 3 carries out operation of a hoist speed instruction by using data of the hoist target position x hs outputted from the path operation unit 1 and a hoist present position x hd the hoist speed pattern operation unit 3 carries out operation of a hoist position instruction by integrating thus obtained hoist speed instruction with respect to time and then outputs the hoist speed instruction and hoist position instruction to the hoist driving unit 210 as a hoist speed pattern the trolley driving unit 110 drives the trolley 100 by following the trolley speed instruction and trolley position instruction and the hoist driving unit 210 drives the hoist 200 by following the hoist speed instruction and hoist position instruction by which the trolley 100 and hoist 200 are to be driven by following the travel path shown in fig2 a reference swinging period operation unit 7 carries out operation on the reference swinging period ts of a suspended load on the basis of the following equation of motion equation of motion of a simple pendulum 1 with respect to the deviation angle u03b8 of the suspended load from the vertical direction under the condition of making the deviation.