Leadshine hybrid servo drive tuning

[Dep]

Continuing the topic: https://forum.duet3d.com/topic/12582/mesh-calibration-not-working-or-what-am-i-doing-wrong
Briefly - the problem with the first layer.

I think now the main problem is skipping Z steps

On the Z axis I have a Leadshine hybrid servo drive HBS507

And all that tested before that was with the setup of the M569 P7

After the last print, I noticed Hiccups 64

Next, I made the M569 P7 T2.5: 2.5: 5 - no result

Then M569 P7 T5: 5: 6 and Hiccups 20, and got better print

Then M569 P7 T20 and even better print and Hiccups 4
True, I constantly executed the M122 command during the printing process - it seems that it resets Hiccups

Where to go next? What should be the timings for my motor?

[Dep]

I just think 20ms is too much.

Can you share what settings you think are normal or use yourself?