I think, it should be worthy of setting time-based profile. Make 2 times larger than your frame rates as the example here
Seeing the example, the number of goal positions are updated every 100ms. and the Author tends to set the Profile Velocity (Time-based) 2 times larger that the frame rates (100ms).
- Guessing this issue is simiilar to Motor overrun errors - #3 by rajkiran - ROBOTIS Software - ROBOTIS ?
Please allow me to update the ticket and drops other user to here, as the issue is being addressed here in the thread.