Optimization, fine tuning

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

• 0x2002:72 "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 "Sensorless Startup Current Scaling"
  Scaling factor for the current that is driven during the start-up phase in sensorless mode. Is specified in 1/10 of the rated current, i.e. the value 1000 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 "Velocity loop integral time"
• 0x2002:15 "Velocity loop proportional gain"
• 0x2002:17 "Position loop proportional gain"