Hi Jonathan.
After a hard work week. Today I've tried some modifications in the servodrive parameters, and I get very good results, also solving the problem.
I've noticed that Pn141 (Model Following Control Gain) and Pn147 (Model Following Control Speed Feedforward Compensation) have very good effect in the final motor speed.
With Pn147 I get reduce my positioning time considerably and with Pn141 I get avoid the oscillation of the axis, arround the final position.
So it was a goal for me, and all is working fine now.
Thank you so much again for your help.