Work out jerk limited motion time instantly with clear inputs, formula shown and shareable results.
An S-curve profile ramps acceleration rather than stepping it, taking a/j seconds to reach full acceleration at each corner. That adds roughly 2 a/j to the move time but removes the acceleration discontinuity that excites structural resonance and causes overshoot.
S-curve timing
jerk phase = a / j; total time approx trapezoidal time + 2 x a/j
Usually yes. Lower jerk cuts vibration and settling time, so the net cycle time is often shorter despite the longer nominal move.
Set it so the jerk phase is short compared with the move, and low enough that the excitation frequency stays below the structure's first resonance.