Hello Christian,

> The new parameters should give me roughly a proper tracking, however
leaving these new figures gives me now more time to reach the speed
asked (500 X if GOTO is launched for instance, the motors need also
more time to decrease their speed then the target is supposed to be
reached.
>
> What other paramaters should be changed to get the same GOTO speed
behavoiur as in the initial set up??

Increase the parameter M1_accel .
If that doesn't help enough, multiply M1_FS/R by 2 and divide M1_gear
by 2.

Michael