ctrlX MOTION is not using the drive based functions to be drive independent. This did not change from 1.20 to 2.x (as far as I know). Drive isn't even commanded to AH but simply gets decelarted to 0rpm and stays in AF. Useability of of drive mode AH will be implemented in version 2.6 of ctrlX MOTION and CXA_MotionInterface.
The acceleration/deceleration difference is, like mentioned above, reproduceable and we are investigating this. I will post new information about it here as soon as available.
... View more