obtaining a switch time parameter, a final time parameter, {HEAD ~ an acceleration amplitude parameter}, and a deceleration amplitude parameter corresponding to {TAIL ~ the data} related to the desired final position of the movable member 
obtaining a switch time parameter , a final time parameter , { HEAD ~ an acceleration amplitude parameter } , and a deceleration amplitude parameter corresponding to { TAIL ~ the data } related to the desired final position of the movable member
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH REL REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH