Optimization, fine tuning

The axis is now ready to operate. You can move it for test purposes and optimize it with the following parameters:

• 0x2002:72/0x2802:72 (Channel 1/2) Stand still torque limitation
  This parameter limits the holding current at standstill in order to reduce energy consumption and heating of the motor.
• 0x2002:79/0x2802:79 (Channel 1/2) Sensorless Startup Current Scaling
  Scaling factor for the current that is applied during the start-up phase in sensorless mode. Is specified in 1/1,000 of the rated current, i.e. the value 1,000 corresponds to 100% of the rated current.
  A higher value leads to a higher starting torque, but also to higher motor heating.
• Controller parameters:
• 0x2002:14/0x2802:14 (Channel 1/2) Velocity loop integral time
• 0x2002:15/0x2802:15 (Channel 1/2) Velocity loop proportional gain
• 0x2002:17/0x2802:17 (Channel 1/2) Position loop proportional gain