OK - That xml you posted has accel set to 400 for BOTH X and Y so methinks 'tis NOT the one you were using where you get two rounded and two sharp corners. That said an accel of 400mm/s/s is pretty p*55 poor. Why have you got it so low?

Hi Jazz - just a note about the CV doc you linked to. I've been banging on for over 5 years on the Mach forum that the description of CV angles in that doc is just plain wrong.

Ian