User manual

Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015 263
Program Appendix C
Profile Operand
This operand has two profile types:
• Trapezoidal Velocity Profile
• S-curve Velocity Profile
Trapezoidal Velocity Profile
The trapezoidal velocity profile is the most commonly used profile because it
provides the most flexibility in programming subsequent motion and the fastest
acceleration and deceleration times. The change in velocity per unit time is
specified by acceleration and deceleration. Jerk is not a factor for trapezoidal
profiles. Therefore, it is considered infinite and is shown as a vertical line in the
following graph.
VelocityAccelJerk
Time
Time
Time
Trapezoidal Accel/Decel Time