Manipulating UR3 Speed Settings With an Equation

jbriones02

DoF,

I want to be able to send a command that ramps the speed of a UR3 from a predetermined 'low' speed to another predetermined 'high' speed, in a linear fashion that reaches its peak at the midpoint (t_1/2) of its cycle. This is shown in an attached graphic.

Thanks,

Josh

jbriones02

photo attached here