Advanced-S

In the Advanced-S profile, the acceleration jerk and deceleration jerk will change linearly. The acceleration and acceleration jerk are both 0 at the beginning of the profile, and are continuous throughout the profile. In addition, the acceleration jerk ratio (and deceleration jerk ratio) may be specified to determine the ratio of the time where the acceleration is changing (jerk is nonzero) to the total acceleration time. The acceleration jerk ratio and deceleration jerk ratio must be values between 0 and 1 inclusive. A higher jerk ratio will result in a higher maximum acceleration and lower maximum jerk.

If the acceleration jerk ratio and deceleration jerk ratio are both 0, the profile becomes identical to the Trapezoidal profile.

This profile uses the following profile parameters:

Parameter	Description
Velocity	Maximum velocity
Acc	Average acceleration
Dec	Average deceleration
Jerk Acc Ratio	Acceleration jerk ratio
Jerk Dec Ratio	Deceleration jerk ratio
Starting Velocity	Initial velocity
End Velocity	Final velocity

The following plots show the position, velocity, acceleration, and jerk of an advanced-S profile with a jerk ratio of 0 (identical to the Trapezoidal profile).

The following plots show the position, velocity, acceleration, and jerk of an advanced-S profile with a jerk ratio of 1.

The following plots show the position, velocity, acceleration, and jerk of an advanced-S profile with a jerk ratio of 0.5.