Yes - miles off - story of my life! OK, I put my hand up - question asked before watching video . It's a personal thing but I tend not to watch tutorial-type videos too much as I prefer written text - my addled old brain can then skip the bits I know and I can go over the bits that are new or complicated as many times as I like more easily. In this case, reading the initial post made me think of something I'm sure I read a long while back, re the problem with slower motion controllers not being able to keep up with the encoder pulse count when the loop is closed via the motion controller. Probably applies more to analogue controllers, of course. A moment's reflection and I would have realised that the pulse output rate from the motion controller equally needs to match the encoder pulse rate and it's equally obvious that a 2500 line encoder with quadrature pulses is way more resolution than a typical stepper configured with its 1600 microstep/rev resolution. Thinking of my own machine, I would be looking at 3:1 gearing down from servo to ballscrew (matching max revs of servo to critical speed of ballscrew) giving 30K pulse per rev resolution. Obvious why electronic gearing is needed but with the big advantage over microstepping that there is no loss of torque involved in getting to the right resolution.

Anyway, although I'm happy with sums and sorting the numbers involved, I'm sure that your translation of the manual is going to be very useful for the increasing number of people using servos like these and who don't speak Chinglish as their native tongue!