This law has a high maximum-velocity, and high maximum-acceleration, but zero 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 by ~20% to reduce the peak velocity, acceleration, and jerk values.

Position at the Start

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

Position at the End

Start Velocity & End Velocity

Start Acceleration & End Acceleration

Start Jerk & End Jerk

None

None

Velocity Coefficient :

Acceleration Coefficient :

Jerk Coefficient :

Jerk at Cross-over :

Dynamic Performance:

This Motion-Law is recommended in applications where the period ratio is greater than 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.