• The Impulse function does not exist in physical world; that is another perspective to see why we need S-Curve. • If the acceleration or deceleration zone is short, the system should be with the ability to offer tremendous power in a short time or the drive will operate in saturation and cannot follow the command well. Acceleration Zone Deceleration Zone Stop Zone The Position-Speed-Torque Speed Curve Torque Curve Constant Speed Zone Position Curve Stop Zone From the View of Real World Acceleration Zone Deceleration Zone Stop Zone Constant Speed Zone Speed Curve Torque Curve Position Curve Stop Zone