where t^(dcc/acc/cns) is the deceleration/acceleration/constant velocity time in the respective segment (see also Figure 6), t_(s→s+1) is the jump travel time from layer part s to the next layer part s+1 at distance x, (.)_max^(process/machine) are the process/machine limits for velocity x ̇ and acceleration x ̈, kinematics at the start/end of the jump j are indicated with subscript 0/end, x ̇_j^* are the maximum velocity (lower than machine limits) during jump j. t^(dcc,1) is zero if |x_j^(dcc,1) | is smaller than |x_(s+1) | in the respective direction. t^(acc,2/cns,3/dcc,4) is zero if |x_j^(dcc,1) | equals |x_(s+1) | in the respective direction. t^(cns,3 ) is zero if x ̇_j^*< x ̇_max^machine. Figure 6 illustrates three different scenario’s