Joint speed tracking - motion in danger

hello gentelmen,

Does somebody have time to help me tested some behaviour of the actual trajectory planner(trapeziodal)? maybe there is bug in the TP and I need more independent observations ... 

Its just regular simulation setup with some precise steps to replicate ... the post the picture of the watched scope please

I need help from you please...

If you are ready, create axis.ini sim OR sim axis_mm.ini trivkins simulation UI ... then

• Start Lcnc
• Enable
• home all
• hal scope
• observation time as long as possible but period is fine 40ms
• add joint.0.vel-cmd.. scale 20
• add joint.1.vel-cmd.. scale 20
• split them to they own space
• Load Gcode program(from attachements but watched behaviour is present everywhere)
• hit play button alias program run
• observations the spline created by gcode (nice smooth steady - the first one)
• wait program end OR stop program by program stop/stop radio button
• break point 1(only for repeat command)
• return home G28 or rehome everything
• I press start button again at same code no change, no position change nothing just return to row 1 of gcode
• start program with play radio button
• observations the spline created by gcode (clingy - every other)
• wait program end OR stop program by program stop/stop radio button
• go to breakpoint 1(only for repeat command)

Please paste your scopes ... I hope your velocity splines will be exact same at rerun the gcode!!!

My scope is at rerun different each time ... 

many thanks