AASD servo Lathe spindle motor needs tuning

Hi,

I use a servo motor as lathe spindle motor. Positioning mode, step\dir signals. As you see in the video I need to tune the drive for lower RPMs than 10. Yes, I'll never use such low RPM's in a lathe but it still needs tuning on the drive. 

Which parameters should I play with?

Also I am unable to find a proper user manual for the AASD drive as the pdf I have the parameters ends at PN219 but I know there are many more. If you have the latest pdf and willing to share I'll be greateful.

Servo drive AASD 50A
Motor 110ST_M06030 (1.8kw)

Thanks in advance,
Suat