A system for generating a motion profile in real time includes a processor. The processor breaks a move into a first phase and a second phase. The first phase includes commanding the move toward a constant velocity segment, and the second phase comprises calculating a jerk value required to successfully reach end conditions during a move in progress. The processor also transmits command signals based upon the motion profile and calculates the point at which the second phase must take control to reach a target position. The system further includes a device being controlled for a move and at least one input/output module that receives command signals. A method for generating a motion profile in real time is also presented.