Using a gear can cause inaccuracy when only the shaft is controlled.
A second encoder can be attached to the output shaft after the gear for an optimized position control.
The velocity FIR filter is before velocity feed forward until firmware 5.0.3! Only in the soon-to-be-released firmware 5.0.4 it will be at the shown position.
Set the first encoder at the input shaft to Commutation and Velocity
Set the second encoder at the output shaft to Position
Ensure that the gear ratio is set correctly in object 0x6091.
Object for indicating the revolutions of motor and shaft
Values Kp, Ki and Kd for Torque Controller
Values Kp, Ki and Kd for Cascaded Position Controller (Both loops: Position and Velocity)