S-Curve; Basic Moves - National Instruments NI-Motion User Manual

Chapter 4 What You Need to Know about Moves

S-Curve

NI-Motion User Manual
Velocity
Figure 4-1. Trapezoidal Move Profile
The acceleration and deceleration portions of an s-curve motion profile are
smooth, resulting in less abrupt transitions, as shown in Figure 4-2. This
limits the jerk in the motion control system, but increases cycle time. The
value by which the profile is smoothed is called the maximum jerk or
s-curve value.
Velocity

Basic Moves

There are four basic move types:
• Reference Move—Initializes the axes to a known physical reference
such as a home switch or encoder index
• Straight-Line Move—Moves from point A to point B in a straight
line. The move can be based on position or velocity
• Arc Move—Moves from point A to point B in an arc or helix
Figure 4-2. S-Curve Move Profile
4-2
Time
Time
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