Hello, my motion setup is a DC brush motor with encoder, linear servo drive, linear regulated DC power supply, and PCI-7342 with UMI breakout board. In the user manual for the 7342 card, I read that the lower limit of velocity is 1 count/s. I have used MAX to tune the axis for a nice step response (step size 20 steps) so that velocities greater than approximately 10 counts/s are quite smooth. At velocities less than 10 count/s however, the motion is quite choppy with backward corrections and a series of rough, discrete step movements. My PID loop rate is set to maximum frequency (88 us). Does anyone have advice for me on how to achieve smoother velocity profiles at very low speed? Is 10 count/s simply the practical limit for smooth velocity with the 7342?