The Max Velocity at 10V setup parameter is a Velocity Feed forward setup that relies on the accurate calculation of the velocity of the position set-points for the Closed Loop algorithm. This is a filtered velocity calculation.

There were no issues with the calculations or the filtering but there was an issue with the code that calculates the set-points and re-references the loop position between parts. The referencing and the new set-point were being calculated correctly but the old set-point, which is used to calculate the instantaneous velocity was not getting set properly between parts. This resulted in a large negative instantaneous velocity that took some time to filter out. This cause the acceleration ramp to look odd and miss-shaped.

This problem would only be noticeable when the controller is set for Feed to Stop and Selective Closed Loop. It has now been fixed.