I progress! I read about feed-forward function. It was turned off. I began to turn it on, following the procedure. Then, have to set the the feed foward coeficient FALPH according to these formula:
FALPH = α × 4096 ×8192/Position feedback pulses per revolution of the motor
But wath is α ?
After that it's easy, just to set the Velocity feed-forward coefficient (VFFLT)
VFFLT = (− PK2V) ×[(Load inertia +rotor inertia)/Rotor inertia] × 0.04 × 8000/(Position feedback pulses per revolution of the motor)
Where can I find the load inertia and the rotor inertia?