Combination

With this setting, the user can specify the 1st derivative and the 2nd derivative at the margins (i.e. at the points P[1] and P[n]) using the parameters stVyMargin.lrStart or stVyMargin.End and stAyMargin.lrStart or stAyMargin.End. Since the system is overdetermined by these specifications, in this case a 4th order polynomial is processed in the first and last interval instead of a 3rd order polynomial.

The following trace recording clearly shows that the acceleration profile in the first and last interval is parabolic. However, this makes it possible to force fixed values, in this case 0, for the 1st and 2nd derivatives at the boundary points.