From 3a1cf3842b749a0e772dff46ceabc6ca29c81cfd Mon Sep 17 00:00:00 2001
From: MarkRivers <rivers@cars.uchicago.edu>
Date: Fri, 29 Jun 2007 23:24:02 +0000
Subject: [PATCH] Fixed restrictions section

---
 documentation/trajectoryScan.html | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/documentation/trajectoryScan.html b/documentation/trajectoryScan.html
index ed68e532..8213e5d2 100644
--- a/documentation/trajectoryScan.html
+++ b/documentation/trajectoryScan.html
@@ -1323,10 +1323,13 @@ the MM4005 at the end of the trajectory execution. Set the SPEC global variable
 <<P>&nbsp;</P>
 <H2><A name="Restrictions">
              Restrictions</A></H2>
-<P>The following are restrictions on the trajectory scanning.
+<P>The following are restrictions and problems with the trajectory scanning.
 <UL>
-  <LI>The XPS SNL code does not yet check that the trajectory is within the soft limits.
-  <LI>The Abort command is not implemented or tested on the XPS.
+  <LI>At short trajectory element times with velocity changes the XPS can exceed
+      the maximum acceleration, even when a simple calculation (delta velocity/delta time)
+      says that it should not.  The fix will be to use the actual spline function that the
+      XPS uses when calculating the velocities in the trajectory file.  We have not run into
+      this problem at trajectory times larger than 0.01 second.
 </UL>
 
 </BODY>