embedded - servo motor s curve motion -


i trying control industrial ac servo motor using xe166 device.

the controller interfaces servo controller using pulse , direction control.

to achieve jerk-free motion have been trying create s curve motion profile (motor speed v/s time).

calculating instantaneous speed no problem know distance moved motor per pulse, , pulse duration.

i need understand how arrive @ mathematical equation use, tell me should nth pulses duration have speed profile s-curve.

since these must common requirement in domain requiring motion control (robotics, cnc, industrial) there must standard reference it


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