Patent ID: 6988020

Claim:
A method to move an accessor within a data storage and retrieval system, comprising the steps of: providing an accessor comprising a velocity control program, wherein said accessor is capable of traveling at a velocity V MAX and accelerating at a maximum acceleration a MAX ; receiving a request to move said accessor a distance from a first location to a second location; forming a first velocity profile wherein said accessor travels said distance in the minimum time interval, and wherein said first velocity profile requires a first maximum acceleration change; calculating a second velocity profile, wherein said second velocity profile includes a second maximum acceleration change, wherein said second maximum acceleration change is less than said first maximum acceleration change; determining if said accessor reaches a MAX using said second velocity profile; operative if said accessor does not reach a MAX using said second velocity profile, loading said first velocity profile into said velocity control program; operative if said accessor does reach a MAX using said second velocity profile, loading said second velocity profile into said velocity control program; moving said accessor using said velocity control program.