Jerk-Limited Advanced-S

In the Jerk-Limited 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 and acceleration jerk will remain within the specified acceleration and acceleration jerk limits while accelerating and the specified deceleration and deceleration jerk limits while decelerating.

This profile uses the following profile parameters:

Parameter	Description
Velocity	Maximum velocity
Acc	Maximum acceleration
Dec	Maximum deceleration
Jerk Acc	Maximum acceleration jerk
Jerk Dec	Maximum deceleration jerk
Starting Velocity	Initial velocity
End Velocity	Final velocity

The following plots show the position, velocity, acceleration, and jerk of a jerk-limited advanced-S profile.