hi @bilin sorry about the replies. Support2 just joined us as he is learning the rope. We have been overspreaded for the better part of the last 2 years and he is a much needed addition even as he needs to learn more about Moai’s technical issues. It is my fault not communicate this aspect of Asura clearly.
compensate x/y is more of the generic trapezoid distortion calibration from 2017. it does not do a good job as Asura because there are minor difference between machines and the non-linear distortion is not easily translated in mathematical formulas. You can still play with it but I recommend using default value and utilize Asura for distortion adjustment
z initial speed is how fast the z-axis arm (build platform) moves during the initial 30 layers. Please add below page that explains it @Peopoly_Support_2
the information on that page should be merged with firmware page http://wiki.peopoly.net/doku.php?id=moai:firmware