Profile Parameters

The parameters that can be specified for a motion profile are defined in the Profile class. Not all profile types use every parameter.

The shape of the motion profile is determined by these parameters and the target position or target velocity.

Each profile parameter is described below:

Profile Type
Variable Name:	type
Type:	ProfileType
Default Value:	Trapezoidal

The profile type determines the overall shape of the motion profile. Each profile type is explained in detail at Motion Profiles.

Velocity
Variable Name:	velocity
Type:	double
Unit:	user unit / second
Signed/Unsigned:	unsigned
Minimum Value:	1e-6 = 0.000001
Maximum Value:	2^38-1 = 274877906943

The velocity of the profile determines the travel speed of the axis while executing the motion.

This value is specified as a positive number, regardless of the direction of motion of the axis.

Acceleration
Variable Name:	acc
Type:	double
Unit:	user unit / second^2
Signed/Unsigned:	unsigned
Minimum Value:	1e-6 = 0.000001
Maximum Value:	2^38-1 = 274877906943

The acceleration of the profile determines the acceleration of the axis while executing the motion.

This value is specified as a positive number, regardless of the direction of motion of the axis.

Depending on the profile type, this parameter may specify the maximum acceleration or the average acceleration. (For the S-Curve profile, the average acceleration is specified so that the profile execution time becomes the same as a Trapezoidal profile with the same parameters. For the Jerk Ratio and Advanced-S profiles, the average acceleration is specified so that the profile execution time does not change depending on the values of the jerkAccRatio and jerkDecRatio.)

Deceleration
Variable Name:	dec
Type:	double
Unit:	user unit / second^2
Signed/Unsigned:	unsigned
Minimum Value:	1e-6 = 0.000001
Maximum Value:	2^38-1 = 274877906943

The deceleration of the profile determines the deceleration of the axis while executing the motion.

This value is specified as a positive number, regardless of the direction of motion of the axis.

Depending on the profile type, this parameter may specify the maximum deceleration or the average deceleration. (For the S-Curve profile, the average deceleration is specified so that the profile execution time becomes the same as a Trapezoidal profile with the same parameters. For the Jerk Ratio and Advanced-S profiles, the average deceleration is specified so that the profile execution time does not change depending on the values of the jerkAccRatio and jerkDecRatio.)

This parameter is used to determine the following:

The deceleration at the end of motion.
The deceleration to stop the axis at the beginning of motion for override position commands with the target position in the direction opposite to the direction of movement. (The Prohibit Overtravel parameter must be set to Disabled.)
The deceleration to reduce the axis velocity at the beginning of motion for override position commands with a profile velocity slower than the current velocity.

Acceleration Jerk
Variable Name:	jerkAcc
Type:	double
Unit:	user unit / second^3
Signed/Unsigned:	unsigned
Minimum Value:	1e-6 = 0.000001
Maximum Value:	2^38-1 = 274877906943

The acceleration jerk of the profile determines the jerk of the axis while accelerating.

This value is specified as a positive number, regardless of the direction of motion of the axis.

Deceleration Jerk
Variable Name:	jerkDec
Type:	double
Unit:	user unit / second^3
Signed/Unsigned:	unsigned
Minimum Value:	1e-6 = 0.000001
Maximum Value:	2^38-1 = 274877906943

The deceleration jerk of the profile determines the jerk of the axis while decelerating.

This value is specified as a positive number, regardless of the direction of motion of the axis.

Acceleration Jerk Ratio
Variable Name:	jerkAccRatio
Type:	double
Minimum Value:	0
Maximum Value:	1

The acceleration jerk ratio of the profile determines the ratio of the time that the acceleration changes and the total acceleration time.

This ratio is specified as a ratio between 0 and 1 (values such as 0.25, 0.5, etc. are allowed).

When the acceleration jerk ratio is 0, the acceleration changes instantly and the profile will be the same as a Trapezoidal profile during the acceleration segment.

When the acceleration jerk ratio is 1, the acceleration changes over the entire acceleration time and the profile will have the same shape as the SCurve profile during the acceleration segment.

Deceleration Jerk Ratio
Variable Name:	jerkDecRatio
Type:	double
Minimum Value:	0
Maximum Value:	1

The deceleration jerk ratio of the profile determines the ratio of the time that the deceleration changes and the total deceleration time.

This parameter is specified as a ratio between 0 and 1 (values such as 0.25, 0.5, etc. are allowed).

When the deceleration jerk ratio is 0, the deceleration changes instantly and the profile will be the same as a Trapezoidal profile during the deceleration segment.

When the acceleration jerk ratio is 1, the deceleration changes over the entire deceleration time and the profile will have the same shape as the SCurve profile during the deceleration segment.

Acceleration Time
Variable Name:	accTimeMilliseconds
Type:	double
Unit:	millisecond
Minimum Value:	1e-6
Maximum Value:	2^31-1 = 2147483647

The acceleration time of the profile determines the total acceleration time.

Deceleration Time
Variable Name:	decTimeMilliseconds
Type:	double
Unit:	millisecond
Minimum Value:	1e-6
Maximum Value:	2^31-1 = 2147483647

The deceleration time of the profile determines the total deceleration time.

Starting Velocity
Variable Name:	startingVelocity
Type:	double
Unit:	user unit / second
Signed/Unsigned:	unsigned
Minimum Value:	1e-6 = 0.000001
Maximum Value:	2^38-1 = 274877906943
Special Value:	0

The starting velocity of the profile determines the initial velocity at the beginning of motion.

This value is specified as a positive number, regardless of the direction of motion of the axis.

This value can be set to 0, in which case the initial velocity is set to the current velocity of the axis. For motion commands starting from Idle state, the initial velocity will be 0. For override motion commands, the initial velocity will be the current velocity of the axis.

End Velocity
Variable Name:	endVelocity
Type:	double
Unit:	user unit / second
Signed/Unsigned:	unsigned
Minimum Value:	1e-6 = 0.000001
Maximum Value:	2^38-1 = 274877906943
Special Value:	0

The end velocity of the profile determines the axis velocity at the end of motion.

This value is specified as a positive number, regardless of the direction of motion of the axis.

This value can be set to 0, in which the end velocity will be 0 and the axis will smoothly decelerate to a stop.

If this value is not set to 0, the axis will suddenly decelerate from the end velocity to 0 velocity at the end of motion.

This value must be equal to or less than the profile velocity. If this value is greater than the profile velocity, it will be reduced to equal the profile velocity.

If the axis would reach the target position before it can accelerate or decelerate to the end velocity, then the motion will end at a velocity that is as close to the end velocity as possible.

Second Velocity
Variable Name:	secondVelocity
Type:	double
Unit:	user unit / second
Signed/Unsigned:	unsigned
Minimum Value:	1e-6 = 0.000001
Maximum Value:	2^38-1 = 274877906943

The second velocity of the profile determines the second velocity that the axis reaches for certain profile types.

This value is specified as a positive number, regardless of the direction of motion of the axis.

For the profile types that use this parameter, the axis will accelerate from the profile velocity to the second velocity with a constant acceleration instead of moving at a constant travel speed.

This value must be equal to or greater than the profile velocity. If this value is less than the profile velocity, it will be increased to equal the profile velocity.

Moving Average Time
Variable Name:	movingAverageTimeMilliseconds
Type:	double
Unit:	millisecond
Minimum Value:	0
Maximum Value:	120000 (120 seconds)

The moving average time of the profile determines the time constant of the moving average filter that is applied to the TrapezoidalMAT profile type.

The moving average time is reduced from the specified value if a profile could not be otherwise generated due to a high initial or end velocity.