Time Time t 2 t 3 The Maximum Torque (2) 0 t 1 Speed (rpm) N 1 Torque (N-m) T - The speed profile employs a s-curve at both of the ends that will turn out a trapezoidal torque curve. Treat the trapezoidal torque curve as a square one for easy calculation. z A way of approximation t 1 t 2