Allen-Bradley 1756-HYD02 User Manual page 62

Chapter 2 Cartesian coordinate system
62
How To Get a Triangular Velocity Profile
If you want to program a pick and place action in four moves, minimize the Jerk
rate, and use a triangular velocity profile.
Then, use termination type 5. The other termination types may not let you get to
the speed you want.
Termination Types 2, 3, 4, or 6
The length of each move determines its maximum speed. As a result, the axes will not reach a speed that
causes them to overshoot the target position during deceleration.
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018