Name

Initial

Comment

TRAPEZOID

0

Velocity profile with trapezoid shape

SIGMOID

1

Equal to the TRAPEZOID profile but rising and falling edges of the velocity profile are replaced by sin2 functions with same area.

SIGMOID_LIMIT

2

Velocity profile: Equal to mode SIGMOID with the difference that the same time is taken for interpolating one path in trapezoid and sigmoid mode. For that, the existing mode SIGMOID exceeds the limit about a factor of PI/2.

QUADRATIC

3

Acceleration profile in a trapezoidal form with jerk limitation: this mode, that keeps the value of the jerk in a certain limit (defined in dJerkMax), is a quadratic velocity shape. The position profile is built of polynomials of 3rd degree. Hence, the velocity profile consists of parabolas, the acceleration of line segments and the jerk of horizontal line segments.

QUADRATIC_SMOOTH

4

It works like mode QUADRATIC but creates a jerk profile without jumps. This is done by replacing the linear ramps of the acceleration by monotone functions that have zero slope at the start- and end-point. The function must lead to the same end velocity and end position after the acceleration ramp. This is similar to the way a sin² function is used instead of a linear velocity ramp in the sigmoidal velocity mode. In particular, the computation of the segments and the length and duration of the segments is not affected.