The XMP's DSP uses a formula to convert the "commanded
acceleration" for an S-Curve move to a "peak acceleration."
The DSP calculates the trapezoidal profile first, then adjusts
the accel/decel portions of the move based on the "Jerk
Percent" parameter, while keeping the move time at a constant
value. For example, a 0% jerk would look like a trapezoidal
velocity profile (no jerk portion), and a 100% jerk would
have no constant accel/decel (all jerks). See the table