Dorna EPS-B2P series all-digital AC servo adopts the same software and hardware platform as EPS-B1 series. In the design of Dorna servo motor, the latest five-pair structure and block stator are fully adopted, and it also has 2-level notch filter. controller, external disturbance suppression, friction torque compensation, gain switching, internal position, internal speed and internal torque control and other functions.