•Start-Position

The Start-Position usually flows from the End-Position of the Previous-Segment.

•End-Position

•Start-Velocity, End-Velocity

•Start-Acceleration, End-Acceleration

•Start-Jerk, End-Jerk

None

None

Velocity Coefficient :

Acceleration Coefficient :

Jerk Coefficient :

Jerk at Cross-over :

This law has a high maximum-velocity, high maximum-acceleration, high crossover jerk .  Only the Modified-Trapezoidal (finite jerk motions) has a greater crossover jerk.

At the start and end of this Motion-Law, the Y-axis does not change very much with a significant X–axis change - 0.02% Y-axis with 5% X-axis change.

Therefore, to accurately reproduce the Motion-Law, it needs precise machining, a large cam, or an encoder with a high resolution. If possible, increase the segment-width to reduce the maximum-velocity and jerk values.

Dynamic Performance:

This Motion-Law is recommended in applications where the period ratio is between about 5 and 10.

Pressure Angle Considerations

This has a relatively large maximum-acceleration and maximum velocity, which will increase the maximum pressure-angle.

Drive Torques

It has a high peak torque.