Ramping
Ramps are used to smooth, or slow down, the output response to a changing command input. The output current changes linearly with “ramp time” between the old command value and the new command value. Ramps have no effect if the control input changes more slowly than the ramps will allow. Ramps can be used to reduce stress in machines caused by abrupt user inputs. Ramps can be applied separately by coil driven and increasing / decreasing current. For example; ramps can be applied to acceleration only, when it would be unsafe to slow down deceleration.