• Proportional Position Loop Gain, Position Integral Compensation, Position Feed Forward Gain Maximum Speed Limit P1-55 Speed Command Gain Switching Control Selection P2-27 Position Control Unit Position Counter Encoder Smooth Constant of Position Feed Forward Gain P2-03 Gain Swithing P2-01 Tuning the Position Loop Gain Proportional Position Loop Gain P2-00 D Position Feed Forward Gain P2-02 A2, B2 Only Position Integral Compensation P2-53 I Position Command