Hi Bill

>>>

#:Tr +DDD.DDDD#
#:Td +DDD.DDDD#
#:Tf +DDD.DDDD#

per minute ought to do the trick.
<<<

This sounds fine to me.

If after further thought, you agree that this is worth our time, I will
add the code to my control program.

>>>

#:Tr2 +DDD.DDDD#
#:Td2 +DDD.DDDD#
#:Tf2 +DDD.DDDD#

#:Tr3 +DDD.DDDD#
#:Td3 +DDD.DDDD#
#:Tf3 +DDD.DDDD#

These give half the acceleration and 1/6 the dacceleration/dt on each
axis.

RA = RA0 + Tr * delta_t + Tr2 * delta_t^2 + Tr3 * delta_t^3
<<<

I will keep this documented, but not add it right away, at least not
until a user requests it.

I would prefer rates rather than a higher frequency absolute position
update. My system, I would imagine, is not the only one where a 'move'
means something different than a 'track' command. Specifically, the
'move' means to startup, make the move, and most importantly, bring the
scope to a safe stop with no overshoot. A 'track' on the otherhand
means to continue moving at a rate (in my program case, I generate a
rate based on positional information that is updated at the timer tick
frequency).

Mel Bartels