Info about Robonova motor control

[Landy]

Hello to all. This is my first post in this splendid forum.
I do not know well the English therefore have a little patience for any errors.

I am one of those persons who have purchased the robonova recently. I have made the change the hip by adding two servomotors.

For the requirements of project I had also amend the towards some brackets circulars of arms that of the legs so i cannot use the original template.
I have a great difficulties in finding the correct values for the forward_walk. I have tried various software, such as: simrobot, rz1action, rz1basic but unfortunately I can't customize the value of brackets (at least I think).
The last possibility is to use the original "robonova motor control".
But I have problems understand certain functions.

do I upload a picture to understand better:




What does "syncronizzation"?
How to use the panel "Copy & exchange"?
I Click the buttons but nothing happens.

I apologise for the application a little strange but is my only possibilities to automate a little of the procedure.

Thank you sincerely
landyandy