In order to make industrial robots and CNC machine tools perform tasks efficiently, each axis has to be accelearated and decelerated appropriately. The existing techniques for the acceleration and deceleration of industrial robots and CNC machine tools are not efficient to generate velocity profiles. Thus, these previous techniques cannot generate velocity generating velocity profiles that cannot be generated by them. Based on the proposed approach, an acceleration and deceleration circuit for industrial robots and CNC machine tools is designed with a FPGA by using the VHDL.