Motion Profile 
Each profile consists of a three major components:
The Acceleration and Deceleration components are subdivided further into:
Jerk is the time rate of change of acceleration/deceleration. Typical units are m/s^{3} and deg/s^{3} for linear and rotary applications, respectively. Jerk is commonly used to minimize backlash effects, mechanical wear and tear, and to provide a smooth, stable profile, with clean positioning minimizing overshoot. Jerk is a function of the mechanical stiffness of an axis, and is difficult to know prior to properly tuning and benchmarking the actual axis performance. However, as the number of projects of similar applications grows, it becomes much easier to closely predict an appropriate jerk value for an application.
Note: Jerk limitation increases the required peak torque from the motor and may result in the need for a larger motor and drive.



Additional acceleration cannot be achieved without first increasing the jerk value SCurving = 100% 


An ideal/theoretical profile Enter a jerk value of zero SCurving = 0% 
Instead of specifying a specific jerk value, SCurving is a percentage of the acceleration time, as per the following formula.
Notes:
1. SCurving = 100% is a jerk limited
profile.
2. SCurving = 0% is an infinite jerk
profile.
Traverse distance 
Distance less than the move distance 
Traverse time 
Time taken to move through the traverse distance 
Position window 
Distance from the target position 
Move time 
Time taken to reach the move stroke less the position window 
Position window time savings 
Time savings if the position window was set to zero 
1/2 Rule 


t4 = 0 t1 + t2 + t3 = t5 + t6 + t7 Lowest Accel & Decel

1/3 Rule 
t1 + t2 + t3 = t4 = t5 + t6 + t7 Lowest Peak Power 
Type  Max Velocity  Max Accel  Max Jerk  Comments 

Constant accel (1/2 rule, no jerk)  2.000 d/t  4.000 d/t²  infinite  Lowest accel, but infinite jerk 
Trapezoid accel (1/2 rule, 50% Scurving)  2.000 d/t  5.333 d/t²  42.7 d/t³  Good balance of velocity, accel and low jerk 
Parabolic  1.500 d/t  6.000 d/t²  12.0 d/t³  Lowest velocity, but high accel and rough jerk 
Sinusoidal  1.571 d/t  4.935 d/t²  infinite  Low velocity, but infinite jerk 
Modified sine  1.760 d/t  5.528 d/t²  69.5 d/t³  Low velocity and good accel, but higher jerk 
Polynomial 345  1.875 d/t  5.773 d/t²  60.0 d/t³  Good balance of velocity, accel and jerk 
Modified trapezoidal accel  2.000 d/t  4.888 d/t²  61.4 d/t³  Low accel, but rough jerk 
Cycloidal  2.000 d/t  6.283 d/t²  39.5 d/t³  Smooth accel and jerk, also low jerk 
Polynomial 4567  2.188 d/t  7.513 d/t²  52.5 d/t³  Smooth jerk, but highest accel and velocity 
Where:
d = distance
t = time