Parker Hannifin G2 manual The check cycle is 2 msec

61 Position settling signal chattering processing count		Always
Minimum value:	1	Long:
Maximum value:	100	COIN_ChatterVolume
Initial value:	1	Short:
Unit:	None	COIN_Vol

Specify the chattering count when a position settling signal is generated. If the absolute values of position deviations (values after being filtered in case a position deviation filter is used) continue to be shorter than the position settling width for the specified number of times, a position settling signal will be formed. Once any of the absolute values becomes out of such range, a position settling signal will not be formed.

The check cycle is 2 msec.

65	Value causing an error detection in the (+) or CW direction		Always
	Minimum value:	1	Long:
	Maximum value:	999999	PosDevErrLimit+
	Initial value:	999999	Short:
	Unit:	pulse	PerrLim+
Specify the + direction detection value when an excessive position deviation error occurs.
66	Value causing an error detection in the (-) or CCW		Always
	direction
	Minimum value:	-999999	Long:
	Maximum value:	-1	PosDevErrLimit-
	Initial value:	-999999	Short:
	Unit:	pulse	PerrLim-
Specify the - direction detection value when an excessive position deviation error occurs.
68	Torque limit percentage		Always
	Minimum value:	0	Long:
	Maximum value:	10000	TorqLimit_%
	Initial value:	10000	Short:
	Unit:	1/100 %	TorqLimit%
This parameter can limit the torque or thrust.
69	Axis velocity monitoring gain (digital monitor)		Always
	Minimum value:	0	Long:
	Maximum value:	8	VelMonitorGain(Dig)
	Initial value:	0	Short:
	Unit:	None	VdigMon_G

Specify the axis velocity monitoring gain of the velocity monitor when controlling the digital velocity.

0:6.55V / 32768 digits at digital detection velocity

1:6.55V / 16384 digits

2:6.55V / 8192 digits

3:6.55V / 4096 digits

4:6.55V / 2048 digits

5:6.55V / 1024 digits

6:6.55V / 512 digits

7:6.55V / 256 digits

8:6.55V/ 128 digits