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Grotius wrote:

@Endian,

When you run the scurve in linux. The joint.[x].... hal outputs already show you position, velocity, acceleration that is
usable for your servo drive. The halscope shows a acceleration curve that is indeed not constant.
 

Yes it should be from there but it has that G64 P.. aproximation stuff and when I am not soo satisfied from it, it is better to use your TP with precise values of of it or?