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The short answer is all components in the chain you described have some effect on the acceleration. The CAM software defines the waypoint through which the tool center point passes. (Let us ignore the setting when it outputs the contact trajectory). When the waypoints are defined and the feeds and speed for the segments are set this already imposes some ...


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On my experience working with stepper motor and CNC shield V3 with DRV8255 motor driver, acceleration and decelaration happen on software side. So I have simple trajectory planner and PD controller to handle the error which produce control signal in form of acceleration, then I simply integral and get the velocity at that time. The acquired velocity then ...


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