the math jerk vs the actual jerk...
how the machine tool reacts rather than the velocity jerks that can be 
calculated...

maybe a test run could record the jerk and then
a filtered run could avoid those high speed, high mass, hair pin turns
or even hi speed pecking that actually hammers the bottom.

im not sure that position -error velocity-error accelleration-error
can show this. but maybe a cheap accellerometer could
(might double as an edge finder with a stylus)

tomp



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