Automatic determination of maximum acceleration for motion profiles

A method for generating a motion profile, comprising:

• determining, by a system comprising a processor, a maximum acceleration value for movement of a motion system to a target position or a target velocity based on a Coulomb friction value for the motion system, a viscous friction coefficient value of the motion system, a load on the motion system, a maximum jerk of the motion system, and a maximum torque of the motion system, wherein the motion system comprises a motor and a mechanical load driven by the motor, and wherein the maximum torque is defined as a function of speed;
• generating, by the system, a motion profile for transitioning the motion system to the target position or the target speed based on the maximum acceleration value;
• and
• controlling, by the system, a control signal directed to the motion system based on the motion profile.

A non-transitory computer-readable medium having stored thereon computer-executable instructions that, in response to execution, cause a computer system to perform operations, comprising:

• receiving a command signal instructing a motion control system to transition a motion system to a target velocity or a target position;
• determining, in response to the receiving, a maximum acceleration value for movement of the motion system to the target velocity or the target position based on a Coulomb friction for the motion system, a viscous friction of the motion system, a jerk limit of the motion system, and a torque limit of the motion system, the torque limit being defined as a function of speed;
• generating a motion profile for transitioning the motion system to the target position or the target speed based on the maximum acceleration value;
• and
• controlling a control signal directed to the motion system based on the motion profile.