Thanks Gene, change in [TRAJ] was the cure. >From your post: > [AXIS_3] > TYPE = ANGULAR > HOME = 0.0 > MAX_VELOCITY = 30.0 > MAX_ACCELERATION = 200.0 > STEPGEN_MAXACCEL = 300.0 > Not immediately obvious, why is MAX_VELOCITY used here, not MAX_ANGULAR_VELOCITY ? It is similar in my .ini
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