text: <s>[INST] Kinetix 350 - 2097-V33-PR1-LM InPosition very slow Summary: Kinetix 350 - 2097-V33-PR1-LM InPosition very slow Kinetix 350 - 2097-V33-PR1-LM InPosition very slow: I am using 1769-L33ERM, linked to Kinetix 350. I have established the communication between the drive and the PLC. I am at the initial stage trying to test the Move commands to the drive. Used the MSO command to ON the servo. Then the MAM command to move the servo in Incremetal type. I am using the Rotary Transmission, High response, point to point type. I move it 360 deg for one full revolution. The speed is 4500 rpm, The acc is 5000 /sec2, The decc is 5000 /sec2. It takes nearly one sec to reach 358+ and another two secs to reach 360. I am not sure why it takes so long to reach the inPosition. Is there any othere important settings to be done. If manual tune can solve it, what are the parameters I need to change to make it InPosition faster. Thanks in advance for your help. [/INST] The model of Motor I am using is MPL-A1510V-Hxx2 \\n </s>