SDC1130 sudden stop at reaching desired position

If you need more data about my issue, I can send you logs. I need this working just like SDC2130. Stopping suddenly at reaching desired position compromises the loop since it won't handle the dolly's inertia.

I have a similar problem running in closed-loop count position, but I am running the SDC2130. Attached are the charts for two scenarios: 1) moving from position 400000 to -500 and the motor will make a very ABRUPT stop. 2) moving from position 300000 to -500 and the motor will make a soft stop. Speed set with !S 1 10000. Yes, if I lower the speed (!S 1 5000), all stops are gentle, but 5000 is too slow for me. At a displacement of about 400k, I can hear the motor whirl at a high speed, but I don't hear the motor go as fast if only displacing 300k. Based on the charts, the tracking has a VERY STEEP curve for 400k vs the 300k, so this should be a command problem with the controller? Would adjusting PID or any settings help?

Loop error detection didn't have any effect. I ended up lowering the speed !S 1 9000 instead of !S 1 10000. This is more of a workaround than a fix because the cause of problem is still not known. If the motor is going too fast (i.e. hits some speed), the controller seems to forget to ramp down faster, and then of course the position should overshoot, BUT the controller DOES NOT LIKE POSITION OVERSHOOT, so it just makes a very ABRUPT stop.

Firmware 1.4b 3/31/2015. Retested at !S 1 10000 and ~600k displacement - see attached log file and screen shot. You can see the Speed (dark green line) has a very steep angle (just like the Track).

I am using Closed Loop Count Position mode. I am using !P to move to certain positions (e.g. !P 1 600000), and I am using !S to control the velocity. (reference Roboteq user manual v1.3, p.104)

Attached is additional chart data and screenshot of the same displacement of ~600k counts, but !S 1 9000 instead of !S 1 10000. So just a slight drop in speed and I get a dramatically different curve (soft stop at desired position).