Hi, thx for your reply, actually, I considered converting force into velocity by equation v = v0 + a*dt, and then adopting profile to realize this motion, however, I think this method will bring some error(in other words, I want to get an fully accurate result), furthermore, I also want to make a comparison between this two method, thus, I need to get this skill. Besides, for profile method, I knew it can describe the relationship between time-velocity, time-temperature, time-omega, but I am not sure whether it includes time-force or time-pressure ?(cause I have never seen this so far)nRegardsn