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I'm working on a machine and the position has a high impact by the jerk and acceleration of the machine. I'm using Grbl for my machine. Does Grbl has S-curve or Harmonic velocity profiles?

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grbl has a trapezoidal velocity profile. It has an acceleration limit (so a ramp on the velocity), but does not set a jerk limit. Jerk limiting would be probably an overkill for stepper-motors. However, grbl does use smooth stepping on for the stepper motors, this reduces the stepping frequency induced vibrations.

Source: here

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