User manual

276 Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015
Appendix C Program
Look For
Cause
When you use an S-curve profile, jerk determines the acceleration and
deceleration time of the axis. An S-curve profile has to get acceleration to 0
before the axis can speed up again. The following trends show how the axis stops
and starts with a trapezoidal profile and an S-curve profile.
Start while decelerating
Trapezoidal S-curve
The axis speeds back up as soon as you start the jog again. The axis continues to slow down until the S-curve profile brings the acceleration
rate to 0.