craig wrote: > Although my education, long ago, was in physics, I do not really > understand the physics of electric motors. > > Are there reasons to limit the rate of change of acceleration? > > for example: Are there reasons that one would not want to go from max > acceleration in one direction to max acceleration is the opposite direction? > > If so under what circumstances? What kind of motors? > Really, the motor doesn't care all that much. It may be possible, however, to get somewhat more acceleration during most of the period of acceleration if the ends of the accel ramp are tapered. This might be more beneficial with stepper motors. That is the goal of schemes to reduce jerk, as well as to try to avoid exciting dynamic responses of the machine structure. There was an attempt to put S-curve acceleration into EMC, but it was apparently not successful. The methods of trajectory planning and smooth transitions from one arbitrary linear or arc move to the next linear or arc move get complicated if the acceleration is not constant.
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