rhncue said:
Yes, that's exactly why you have to control the accelleration of steppers. This is not so much an issue with servos that you can reverse as hard as you want and simply (OK, not really THAT simple) read the position from the optical encoder.
Having said that, the ramp speed of any particular stepper is related to it's torque and the mass you are trying to accellerate. A setup that works perfectly when lightly loaded may not work properly when heavily loaded. This is why the standard design method is to overspec the stepper.
Dave