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Hello,

I've been following this topic for a long time, great work.

I looked at the jerk with the Hal oscilloscope, there seemed to be outliers.
see image. 

Hi Daz, no issues from my side. I'd probably do the same if I had time.

Well, that was quick. The customizations are all applied. The update script did a good job, but did miss one thing, in case anyone cares: the main HAL file for my mill led with the following loadrt lines:
I think the final "[TRAJ]AXES" should have been changed to "[KINS]JOINTS", at least if I'm reading the update_ini code correctly. But it was not, leading to "Ini variable '[TRAJ]AXES' not found".  Please correct me if I'm wrong, since I've made the change manually.  (For the record, my config file had no [EMC]VERSION line.)

So now all I need is for USPS to deliver my Mesa card.

This work perfectly for me using version 2.9 (Thanks a mil JT !!) My setup uses a Logitech (old) Xbox USB controller to work