Motion Profiles

a =	v / t	v 2 / 2s	2s / t 2
s =	v x t / 2	v 2 / 2a	a x t 2 / 2
t =	v / a	2s / v	v(2s / a)
v =	a x t	2s / t	v(2a x s)
Where: a = acceleration; s = distance; t = time; v = velocity
Notes: Acceleration (g) = 386/sec 2 = 32.2ft/sec 2 = 9.8m/sec 2 = 980cm/sec 2 = 9806mm/sec 2

Distance Exercise

Area under the profile
= distance traveled
= 1/2 (100/s x 1s) + (100/s x 1s)
+ 1/2 (100/s x 1s)
= 200 inches

Triangular Profile

Accel to speed and decel back to original speed or zero, rest and repeat the process as needed. e.g. Pick & Place.

Trapezoidal Profile

Accel to constant speed, travel at constant speed, and then decel back to original speed or zero. e.g. Scanning inspection

S-Curve Profile

Accel to constant speed at a variable rate (first slow, then fast, then slow), travel at constant speed, and decel back to original speed or zero. e.g. Minimize Load Disturbances

Motion Profiles