# What is Point-to-Point Multi-Axis Motion?

Point-to-Point Multi-Axis Motion performs synchronized or coordinated motion with multiple axes.

Point-to-Point motion allows us to move a multiaxis system to a specific point. There are two different motion profiles available for this type of motion: Trapezoidal and SCurve.

# Trapezoidal Motion

 Velocity Acceleration ​ ​ ​ ​

Trapezoidal motion accelerates each axis at the given rate until it reaches the specified velocity. When each axis approaches the specified location, it decelerates at the given rate to a stop. All accelerations and decelerations are constant, as shown by the figure above on the right. The above left diagram shows a trapezoidal motion profile.

# Scurve Motion

 Velocity Acceleration ​ ​ ​ ​

SCurve motion also moves each axis to specific points, however each axis is accelerated at a non-constant rate determined by the jerk percentage. A motion profile with 100% jerk percent is shown above on the left. A jerk percentage of 0% is the same as a trapezoidal motion profile. At 100% jerk, the acceleration and deceleration is never constant, as shown in the above right figure.

You can change the velocity, acceleration, deceleration of a moveSCurve that is executing on the fly simply by calling the function again with different parameters.