@MrInka you could use custom input shaping to approximate S-curve acceleration. This will split the start and end of acceleration into a number of segments, each of a fixed duration. See the custom option of https://docs.duet3d.com/en/User_manual/Reference/Gcodes#m593-configure-input-shaping. It would only be applied when the acceleration and deceleration segments are long enough.
In 3D printing, "jerk" normally means instantaneous speed change (which is of course impossible). Whereas in most other motion control contexts, jerk means rate of change of acceleration.
