'Rapid-Return 2' is Not available in the Motion-Law Selector The Rapid-Return-2' motion-law is a Rise & Return motion-law that is continuous in Velocity and Acceleration throughout. Construct it with two Flexible Polynomial Segments. The first segment is the 'Rise', and the second the 'Return'. Each segment is a 'mirror' of each other. Usually, the segments have an equal duration, but this is not necessary. Continuity at the Mid-Point Blend-Point The Position is a maximum, and the Velocity is zero, the Acceleration is 'finite', but continuous. The Rise segment [below, in Blue] ends with a finite, negative acceleration. The Return segment [below, in Red] starts with the same finite, negative acceleration. There is acceleration continuity. The Jerk is discontinuous at the mid-point. [The Jerk is zero at its start an end]. The position graph makes a rapid-return at the mid-point because there is a large negative, but continuous, acceleration at the mid-point. The motion from Rise to Return at the mid-point is more rapid than Quick-Return 1 and Quick-Return 2 and Rapid-Return 1. Thus we call it a Rapid-Return 2. Generally, this motion is not recommended. See Also: Two Segment 'Rapid-Return 2'
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