Generate velocity curve

[SRivi.1]

Hi, I am a NUCLEO STM32H743ZI2 and I am trying generate one velocity curve with the register ARR. I'm using 3 stepper motors and firstly I tested the code with constant velocity but when I increment the velocity from 0 rpm to 2 rpm by 0.001 and the same trayectory, the execution of the three motros doesn't have synchrony. Does anyone know why it works fine with constant velocity and not with variable velocity? I think the error comes from constantly modifying the register ARR.

Thanks.

[Tesla DeLorean]

Check the Preload settings, and perhaps the phase in CNT before changing ARR.

Attach a scope and review the trace to understand what signal you are generating, then you'd know.