> ...
> All of this start, stop, backup motion will result in an average rate of 
> travel that is on the order of inches per hour.  It's not fast.  Though the 
> positioning rate for forward and reverse motion can be inches per minute.
> ...

Then it is so slow as at maximum inches per minute there is no point with 
position/velocity loop faster than once each millisecond?

For Z-axis there would be no problem with 40kHz servo loop if needed.

Regards Nicklas Karlsson

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