Rockwell Automation 8520-GUM 9/Series CNC Grinder Operation and Programming Manual Documentation Set - Manual (Page 438)

Axis Motion
Chapter 12
12-66
When S--Curve Acc/Dec is enabled, the control changes the velocity
profile to have an S--Curve shape during acceleration and deceleration
when in Positioning or Exact Stop mode. This feature reduces the
machine’s axis shock and vibration for the commanded feedrates.
Figure 12.33 shows axis motion using S--Curve Acc/Dec.
Figure 12.33
S- Curve Acc/Dec
Acceleration
Ramp
Jerk
Time (sec)
Time (sec)
Accel
e
ra
tion
Jer
k
Time (sec)
Ve
lo
c
ity
S--Curve
Deceleration
Jerk
Commanded
Feedrate
S--Curve
Acceleration
Linear
Acc Linear
Dec
Jerk Jerk
Jerk
12.9.3
S- Curve Acc/Dec