Arduino " Accelstepper.h " library


Maybe some have read my posting about the robot arm I am building

I have been testing motor by motor with an *.ino script using the accelstepper.h library.

Has somebody experience with this library and seen that the step over from acceleration to desired speed has a jerky point ?

What do you recommend in order to get rid of this ?

I have experimented for example acceleration 500 steps/second² as well as 1000 steps/second² with speeds 600 steps and 800 steps which according to the motor manufacturer recommends according to their Torque graph for the motor 17HS19-2004S1

Thanks for any tip and regards Rainer