S-Curve

In the S-Curve profile, the acceleration curve of the profile is divided into two equal parts. In the first half, the acceleration increases at a constant rate. In the second half, the acceleration decreases at a constant rate. This generates a smooth “S” shaped acceleration curve. The deceleration curve is generated similarly.

Compared to the Trapezoidal profile, if the acceleration time is kept the same, the maximum acceleration will be twice as large.

This profile uses the following profile parameters:

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

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