National Instruments NI-Motion - Manual (Page 43)

Chapter 4 What You Need to Know about Moves
NI-Motion User Manual 4-2 ni.com
Figure 4-1. Trapezoidal Move Profile
S-Curve
The acceleration and deceleration portions of an s-curve motion profile are
smooth, resulting in less abrupt transitions, as shown in Figure 4-2. This
limits the jerk in the motion control system, but increases cycle time. The
value by which the profile is smoothed is called the maximum jerk or
s-curve value.
Figure 4-2. S-Curve Move Profile
Basic Moves
There are four basic move types:
• Reference Move—Initializes the axes to a known physical reference
such as a home switch or encoder index
• Straight-Line Move—Moves from point A to point B in a straight
line. The move can be based on position or velocity
• Arc Move—Moves from point A to point B in an arc or helix
Velocity
Time
Velocity
Time