diff --git a/source/RobotAPI/components/units/RobotUnit/BasicControllers.cpp b/source/RobotAPI/components/units/RobotUnit/BasicControllers.cpp
index 5be317760916ca7c3138c10019d4ec5c7c14349a..0ec81ab3895bc1037141ee6798c01effcbee45eb 100644
--- a/source/RobotAPI/components/units/RobotUnit/BasicControllers.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/BasicControllers.cpp
@@ -371,9 +371,9 @@ namespace armarx
         const double curverror = clampedTargetV - currentV;
         if (std::abs(curverror) < directSetVLimit)
         {
-            double nextAcc = (clampedTargetV - currentV) / useddt;
-            double nextJerk = (nextAcc - currentAcc) / useddt;
-            Output result {clampedTargetV, nextAcc, nextJerk};
+            //            double nextAcc = (clampedTargetV - currentV) / useddt; // calculated acc is unstable!!!
+            //            double nextJerk = (nextAcc - currentAcc) / useddt;
+            Output result {clampedTargetV, 0, 0};
 
             return result;
         }
@@ -1336,7 +1336,7 @@ namespace armarx
             const double dec = std::abs(vsquared / 2.0 / wayToGo);
             const double vel = currentV - sign(currentV) * dec * upperDt;
             nextv = boost::algorithm::clamp(vel, -maxV, maxV);
-            //            ARMARX_INFO /*<< deactivateSpam(0.1) */ << "clamped new Vel: " << VAROUT(nextv) << VAROUT(currentV);
+            //            ARMARX_INFO /*<< deactivateSpam(0.1)*/ << "clamped new Vel: " << VAROUT(nextv) << VAROUT(currentV);
             if (sign(currentV) != sign(nextv))
             {
                 //                ARMARX_INFO << deactivateSpam(1) << "wrong sign: stopping"; //stop now
@@ -1357,8 +1357,8 @@ namespace armarx
             //            ARMARX_INFO << deactivateSpam(1) << "Soft limit violation. " << softLimitViolation << VAROUT(nextv);
             nextv = 0;
         }
-        double nextAcc = (nextv - currentV) / useddt; // doesnt work with calculated acc
-        double nextJerk = (nextAcc - currentAcc) / useddt;
+        //        double nextAcc = (nextv - currentV) / useddt; // doesnt work with calculated acc!!
+        //        double nextJerk = (nextAcc - currentAcc) / useddt;
         //the next velocity will not violate the pos bounds harder than they are already
         return Output {nextv, 0, 0};
     }