Hi Darrel,
Now I feel really bad.
It's not that it doesn't do what I want. It does exactly what I want just not under all conditions. Conditions which are a given for me but definitely not for you and now you've wasted a lot of time on something just because I didn't manage to explain the application in enough detail. I'm the one who should say I'm sorry.

I keep finding articles and application notes on acceleration profiles and positioning but they all seam to targeting step motor application where you obviously move the motor only one step per "tick" so you can easily "hit" the exact centerpoint and deceleration point of the move. Not so here....

I will keep dwelling on this and trying a couple of things. I keep thinking that perhaps I could live with the acceleration constraint being violated (to some extent) on deceleration, what I can not accept is not overshooting the target.

Thanks!
/Henrik.