ICPDAS
I-8092F Software User Manual
99
A.3.4 S-curve Acceleration / Deceleration [Symmetry]
Complete S-curve Description
The complete S-Curve is composed of two two-degree velocity curves; if we set the time of the
acceleration is TA:
Velocity equation of segment (1):
2
/
,
)
(
2
TA
t
Ct
t
V
<
=
(1-4)
Velocity equation of segment (2):
2
/
,
)
(
)
(
2
TA
t
t
TA
C
V
t
V
>
−
−
=
(1-5)
Boundary condition:
0
)
0
(
'
,
2
/
)
2
/
(
,
0
)
0
(
=
=
=
V
V
TA
V
V
(1-6)
By the BCs and then we can find that
2
)
(
2
TA
V
C
=
(1-7)
Fig. A-18 Complete S-curve acc. planning
