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A trapezoidal move accelerates, cruises, then decelerates. If the distance is shorter than twice the acceleration distance the profile is triangular and never reaches maximum velocity, so peak velocity becomes sqrt(a x d) and time is 2 sqrt(d/a).
Trapezoidal move
d_accel = v^2/(2a); if 2 d_accel >= d the profile is triangular with v_peak = sqrt(a d)
Whenever the distance is under v squared over a. For fast axes most short moves are triangular, which is why raising maximum velocity does nothing for them.
The axis needs time for the servo to converge inside the position window. On a compliant structure this can exceed the move time itself.