Yes Rod .. it is solution but it is creating constant delay between control position -> DFIR -> current position of tool ....
next stuff what Gemini tells me at Cloud of points topic is -
* Look-Ahead Buffer CompressionConventional S-curves fail when the "Look-ahead" buffer is too small. If the planner only sees 10 points ahead, it doesn't know it can maintain $F500$ through the next 100 points.The Fix: Use a Compressor or Point Filter.In your trajectory planner settings, ensure the look-ahead is set to at least 100–200 segments.The Approximation: If three points are almost in a straight line, the planner should "ignore" the middle point. This turns a "Cloud of Points" back into a "Set of Vectors," which is much easier for S-curve math to handle.
(before noticed DRIF)
* The "Look-up Table" (LUT) Approximation
If the analytical math (solving cubic equations) is too slow for your CPU, you can use a pre-computed trapezoidal acceleration profile and apply a Finite Impulse Response (FIR) Filter.
The Method: Calculate a standard, "harsh" Trapezoidal move first. Then, run that velocity profile through a "Moving Average" filter.
The Result: The "sharp corners" of the trapezoid become smooth "S" shapes.
* Constraint Decoupling (Axis vs. Path)Latency often spikes when the planner tries to synchronize 3+ axes using 3rd-order math.The Fix: Instead of calculating a full 3D vector S-curve, calculate the S-curve for the Master Path (the total distance) and then linearly project that to X, Y, and Z.The Trade-off: This is slightly less "optimal" for machine time, but it reduces the math complexity by $66\%$, significantly dropping your latency.
* Frequency Domain Filtering (Advanced)
If you are writing the code for the planner, you can use a Low-pass filter on the commanded acceleration.
Generate the "rough" motion.
Pass it through a 2nd order low-pass filter (Butterworth or similar).
This effectively "limits jerk" by removing the high-frequency components (the "thumps") of the motion.
what I can see aproximation or longer thread timing are the only known solutions... but I am not expert in this topic
