PCW: The physical meaning of P=1/servo_period (1000 for a 1 ms servo period) is that any position errors
are corrected before the next servo thread invocation
(666.66 for a 1.5 ms servo period)
Anything greater than P=1/Servo_period means you will over-correct
Anything less than P=/Servo_period means you will under-correct
Anything greater than P=2/Servo_period means you will have oscillations
does it make that much difference to have it or not to have it?
well if you are using PID feedback for a stepgen P=1/Servo_period is pretty much necessary
ME: no encoders here
PCW: PID is still used with stepgens withhout encoders as it has advantages
over the built-in position mode.
In addition you can use a bit of FF2 (FF2= seconds between position read and new velocity write)
usually about 0.0001 for Ethernet cards

P = 666  <-- for a servo_period of 1.5ns
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0