Tom,

OK after four hours of playing I can spin the motor a little faster. ha ha

I still need to understand the calculations for Velocity, Acceleration and Jerk, but if I set the motor up and say 2000 pulse/rev encoder and a motor which can spin at 3000 rpm that gives me 6M pulses as the max velocity if that is correct? Not sure if you use pulses or quadrature counts on the encoder.

When I go to the step response page and give it a much longer distance than 2000, say 200,000 all of the sudden the motor spins up to speed and then stops reverses and you can tell it is running much faster. The distance I provide did not allow the motor to accelerate much.

Well I am exhausted about five intense hours so I will take a break and come back in a while and punish myself a little longer. ha ha

The next big task will be starting to do the C-code for four axis, limits, homing, etc. Thanks again for all the very prompt responses your great. :)

Russ