For most applications, this can be done with a simple linear ramp for acceleration and deceleration. The starting speed is set by the blue line in the previous slide, and the maximum is set by the green line. The blue line in the slide shows a typical move speed profile. For each movement, the step time is gradually reduced for each step, starting from the time set to overcome the inertia of the load, until the desired speed is achieved. The procedure is reversed to decelerate the motor, gradually increasing the step time each step. For short moves the motor may not reach the full speed before it needs to start decelerating, so the acceleration may have to be truncated as shown by the green line. The discontinuities at the corners of this acceleration profile correspond to a change in the acceleration or jerk. In some applications, like moving fluid, it may be necessary to reduce the jerk. This can be accomplished by rounding the corners at the top of the movement profile.