diff --git a/config.h b/config.h
index 10bcd9a..3a7d180 100644
--- a/config.h
+++ b/config.h
@@ -133,6 +133,6 @@ void store_setting(int parameter, double value);
 #define DEFAULT_STEPPING_INVERT_MASK 0
 
 // The temporal resolution of the acceleration management subsystem
-#define ACCELERATION_TICKS_PER_SECOND 10L
+#define ACCELERATION_TICKS_PER_SECOND 20L
 
 #endif
diff --git a/motion_control.c b/motion_control.c
index c509137..fb82943 100644
--- a/motion_control.c
+++ b/motion_control.c
@@ -30,11 +30,13 @@
 #include "wiring_serial.h"
 
 // The current position of the tool in absolute steps
-int32_t position[3]; 
+int32_t position[3];   
+int8_t acceleration_management_enabled;
 
 void mc_init()
 {
   clear_vector(position);
+  acceleration_management_enabled = TRUE;
 }
 
 void mc_dwell(uint32_t milliseconds) 
@@ -49,6 +51,7 @@ void mc_set_acceleration_manager_enabled(uint8_t enabled) {
   } else {
     plan_disable_acceleration_management();
   }
+  acceleration_management_enabled = enabled;
 }
 
 // Execute linear motion in absolute millimeter coordinates. Feed rate given in millimeters/second
@@ -92,7 +95,8 @@ void mc_line(double x, double y, double z, double feed_rate, int invert_feed_rat
 // segment is configured in settings.mm_per_arc_segment.  
 void mc_arc(double theta, double angular_travel, double radius, double linear_travel, int axis_1, int axis_2, 
   int axis_linear, double feed_rate, int invert_feed_rate)
-{
+{      
+  //plan_disable_acceleration_management(); // disable acceleration management for the duration of the arc
   double millimeters_of_travel = hypot(angular_travel*radius, labs(linear_travel));
   if (millimeters_of_travel == 0.0) { return; }
   uint16_t segments = ceil(millimeters_of_travel/settings.mm_per_arc_segment);
@@ -118,7 +122,8 @@ void mc_arc(double theta, double angular_travel, double radius, double linear_tr
     target[axis_1] = center_x+sin(theta)*radius;
     target[axis_2] = center_y+cos(theta)*radius;
     mc_line(target[X_AXIS], target[Y_AXIS], target[Z_AXIS], feed_rate, invert_feed_rate);
-  }
+  }     
+  //mc_set_acceleration_manager_enabled(acceleration_management_enabled); // restore acceleration management setting
 }
 
 void mc_go_home()
diff --git a/script/console b/script/console
index 5eeac80..66c1d0c 100755
--- a/script/console
+++ b/script/console
@@ -1,4 +1,4 @@
 socat -d -d READLINE /dev/tty.usbmodem24121,nonblock=1,clocal=1
+socat -d -d READLINE /dev/tty.usbserial-A700e0GO,clocal=1,nonblock=1,cread=1,cs8,ixon=1,ixoff=1
 socat -d -d READLINE /dev/tty.usbserial-A9007QcR,clocal=1,nonblock=1,cread=1,cs8,ixon=1,ixoff=1
-
 #socat -d -d READLINE /dev/tty.FireFly-A964-SPP-1,clocal=1,nonblock=1,cread=1,cs8,ixon=1,ixoff=1
diff --git a/stepper_plan.c b/stepper_plan.c
index 0f6906c..16408f7 100644
--- a/stepper_plan.c
+++ b/stepper_plan.c
@@ -326,6 +326,8 @@ void plan_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_
   block->speed_z = block->steps_z*multiplier/settings.steps_per_mm[2];
   block->nominal_speed = millimeters*multiplier;
   block->nominal_rate = ceil(block->step_event_count*multiplier);  
+  block->millimeters = millimeters;
+  block->entry_factor = 0.0;
   
   // Compute the acceleration rate for the trapezoid generator. Depending on the slope of the line
   // average travel per step event changes. For a line along one axis the travel per step event
@@ -340,8 +342,9 @@ void plan_buffer_line(int32_t steps_x, int32_t steps_y, int32_t steps_z, uint32_
   if (acceleration_management) {
     calculate_trapezoid_for_block(block,0,0);                       // compute a conservative acceleration trapezoid for now
   } else {
+    block->initial_rate = block->nominal_rate;
     block->accelerate_until = 0;
-    block->decelerate_after = 0;
+    block->decelerate_after = block->step_event_count;
     block->rate_delta = 0;
   }