Just a suggestion. 
Will it be better multispline motion for limiting jerk for TP ?

Elegant multispline motion controller - RepRapWiki

			Elegant multispline motion controller - RepRapWiki Contents 1 Elegant MultiSpline Motion Controller 2 real-time tasks 3 distant future possibilities this opens up 3.1 position feedback Elegant MultiSpline ...
			View on reprap.org	Preview by Yahoo

i am consinging to retro-fit 2 cnc with K-FLOP and K machin-es with SanpAMS.
I love K-flop btw.

Will changing to Multisplie TP have iprovre quality and fast machining?

Any advandates and disvanteges of that?

Any ideas to implement splines Trajectory plqnning

Thanks Ablert