The current, speed or position controllers parameters can be changed online through the following parameters: 1. Current controller The proportional gain components Address KPI 0x0271 SFTKPI 0x0272   The formula used to compute the Kp parameter is:   Kp = KPI / 32767 * 2^SFTKPI where: KPI = 0 .... 32767 SFTKPI = 0 ... 14 The integral [...]