A Traditional Motion-Law.

The maximum velocity and maximum acceleration are large when compared with other motion-laws. However, it has 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. E.g. 0.02% Y-axis after 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 maximum Velocity, Acceleration, and Jerk values.

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

None

None

Velocity Coefficient :

Acceleration Coefficient :

Jerk Coefficient :

Jerk at Crossover :

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 increases the maximum pressure-angle.

Drive Torques

It has a high peak torque.