Darrel,
Thanks a lot!
Don't worry about ruining anything, this is for a stand alone application not related to my CNC machines. (For that you need multiple axis interpolating, all with different accelerations and velocity constraints - up for another challenge?).

I'll take a closer look at it and run it thru its paces over the next few days. Really, thank you!

Tim,
Exactly, the PID-loop servos the motor to a position command. Giving it a new target position without any sort of profile doesn't work very well.
To run at a certain velocity I make the motor "chase" an ever changing target position.

Did you develop the code for the motion controllers you mention in PBP? Any links or information, I'd love to see them.

/Henrik.