@Stephanie_A If you want to be rigorous, you would limit speed, acceleration, and velocity jump (“jerk”) at each individual motor, and then additionally limit speed, acceleration and jump at the nozzle. You have to do both to capture all the edge cases for Deltas and other non-linear machines. There’s additional stuff you can do to optimize for open-loop stepper drivetrains and extruder advance, but that’s details.