IGUS Links

Parameters file has most settings https://wiki.cpr-robots.com/index.php/Firmware_Parameter_Configuration
 
I am aware of a “behind the scenes” file which has additional setting, so that may be the one. My apologies, im only getting scraps of information.
 
Re the camera interface, have you been given this information?
https://wiki.cpr-robots.com/index.php/CRI_Ethernet_Interface
 
There is also. A Python library you might find helpful.
https://github.com/CommonplaceRobotics/CRI-Python-Lib/