Program a velocity profile and jerk rate and tune an S-Curve Profile
Rockwell Automation Publication MOTION-RM002H-EN-P-February 2018 553
The table summarizes the differences between profiles.
Profile ACC/DEC Motor Priority of Control
Type Time Stress Highest To Lowest
Trapezoidal Fastest Worst Acc/Dec Velocity Position
S-Curve 2X Slower Best Jerk Acc/Dec Velocity Position
Use this procedure to balance the smoothness and cycle time of motion that uses
an S-curve profile.
When to Do This Procedure
Do this procedure when you want to decrease the cycle time of an S-curve motion
profile, but keep some of the profile’s smoothness.
To use this procedure, your application must meet these requirements.
• The controller is at revision 16 or later.
• One of these instructions produces the motion.
• Motion Axis Move (MAM)
• Motion Axis Jog (MAJ)
• Motion Axis Stop (MAS)
• The instruction uses an S-curve profile.
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