A Traditional Motion-Law.

The Ramp motion-law has three phases:

Phase 1: Acceleration : first ½ wave of a Sine function (see Segment-Parameters)

Phase 2: Zero Acceleration : Constant Velocity

Phase 3: Deceleration : last ½ wave of a Sine function : (see Segment-Parameters)

You can design an Asymmetric Segment, in which the Phase 1 is longer or shorter than Phase 2.

Velocity and Acceleration are continuous from start to end.

Jerk is finite but discontinuous at the start and end of Phase 1 and of Phase 3.

Start-Position  

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

End-Position

Start Velocity and End Velocity

Start Acceleration and End Acceleration

Start Jerk and End Jerk

Start-Fraction × 100 = % of Segment-Width to accelerate from zero-velocity* to maximum-velocity

End-Fraction × 100 = % of Segment-Width to decelerate from maximum-velocity to zero-velocity**

Start-Fraction + End Fraction 1

Constant-Velocity Fraction = 1 – Start-Fraction – End-Fraction

* if Start-Range = zero

** if End-Range = zero

Start-Range

End- Range

0 ≤ Start-Range < End-Range ≤ 1

Asymmetric Segments, in which the Acceleration phase is longer or shorter than the Deceleration phase.

Motion with a long displacement, in which the maximum-velocity is less than other motion-laws.

•Start-Fraction ≠ End-Fraction

•Start-Fraction = 0.7

•End-Fraction = 0.3

•Start-Fraction + End-Fraction = 1

Constant-Velocity % = 0%

E.g.: RAMP Segment: Start-Fraction = 0.7, End-Fraction = 0.3
(Constant-Velocity Fraction = 0)