Problem change direction quick and smoothly using SM.V1 and SM.MOVE with AKD

Hi

Im using 2 AKD motors jogging on leadscrews, but I have some trouble making a smooth change of direction. Im using a trapezoid pattern, but the SM.V1 property uses about 1 second to receive and process the change in direction. Im communicating via Modbus over TCP.

Are there any tips on how to make this a lot faster and smoother? I have tried to play a bit with acc/ dec numbers without any success. The speed is not high along the screw, but it seems like the "processing" over Modbus is slow, but I understand that can not be the reason.

Im trying to have the two motors making a circle on the XY table, but now they kind of stop a second when the motors on leadsrews needs to change direction.

Thx,