Trapezoidal Motion Profile

From move distance and time, compute peak speed, acceleration and distance split.

Move distance

Total move time (s)

Accel/decel fraction

Dwell time (s)

Formulas

t_acc = t_dec = f·t ;  t_const = (1-2f)·t
v_peak = S / ( t·(1-f) )
a = v_peak / t_acc
S_acc = 0.5·v_peak·t_acc ;  S_const = v_peak·t_const ;  S_dec = S_acc

For a symmetric trapezoid the peak speed is higher than the average speed by 1/(1-f).

Trapezoidal Motion Profile

Result

Formulas