When the device receives a command, it calculates the required movement profile, like the green line shown in the diagram on this slide. It then executes the commanded movement by starting at the minimum programmed speed, then accelerating up to speed at the programmed acceleration rate, running the required number of steps, at the programmed maximum speed, and then decelerating back to zero speed, at the programmed deceleration rate. For short moves, the movement profile may not reach the programmed maximum speed and would follow a profile like the red line here where it accelerates up and then decelerates back to zero to reach the required position.