This document describes the common requirement of executing a relative move in operating a stepper motor system. The move is usually specified as a fixed number of basic motor steps in the clockwise or counter-clockwise direction. It is common practice to execute this move along a trapezoidal shaped velocity vs. time profile. This profile is determined by the number of steps to be moved and the required accel, decel, and peak speed. Very often system designers require that a move be made in the shortest time possible and in these cases the accel, decel and peak speed are set to the maximum that the system can achieve. Given the move distance, accel, decel, and peak speed requirement, a profile can be determined. Since the control structure of the practispin software is designed such that the velocity and accel/decel rate can be changed at will, the task of pre-calculating the velocity profile boils down to determining the position values where operation switches from accel to constant speed and then from constant speed to decel. Since this is a relative move, we can assume that motion starts at position = 0, time = 0, and velocity = 0.