Hello,
you may set the solution for this thread to mark it as solved.
In addition i like to add that for high dynamic applications it might be nessesary to change the LimitCheckResolution to smaller Values, as this Value has some influence how fast the PathVelocity can change and how good the limits are used. But keep in mind that the LimitCheckResolution is also bound to the maximum StopTrajectory and the cpu load.
Greetings
Michael