Stepper Motors Strange Behaviour
So, apparently the motors I am using have a optimal work range that doesn't start at 0 but 200PPS. Though, even generating properly the velocity ramps, when using a low acceleration, my motors would be running for some steps outside this optimal range, causing strange movements at the beginning of the movement.
In order to solve it, these non-optimal low velocities are avoided while accelerating so that motors enter directly to the optimal work area.