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Follow these instructions if your stage can be Enabled without getting faults . You can also find these instructions in the Feedback Tuning helpdocand otherwise operates normally.

1. Jog your axis to the center of travel using Motion Composer. Tuning should be started approximately at the center of travel.
2. Run Digital Scope, and Connect to the controller.
3. Navigate to the Feedback Tuning tab.
4. Select the desired axis from the axis list and Enable the axis.
   
   
   
   
5. Open the motion configuration box by clicking the drop-down arrow on the Tune button.
6. Select Enable Motion. The tuning utility will calculate an ideal distance and velocity for the tuning motion profile, which will be displayed in the Motion Configuration box. You can modify these values if you want to travel over a different range on the stage.
   
   
   
   
7. Click the Tune button to enable the tuning motion and start the tuning algorithm. The tuning algorithm will continuously collect data and adjust the feedback gains so that the feedback device Lissajous matches the ideal Lissajous (red circle).
8. Once the feedback device Lissajous matches the ideal Lissajous, click Stop to stop the tuning cycle.

9. Once the feedback device gains have been calculated, we recommend that you check the Lissajous pattern over the entire length of travel of the axis. Check the pattern by moving the axis over the entire length of travel while displaying the Lissajous pattern. To only display the Lissajous pattern without tuning the axis, select the Collect Data button. Set a different motion profile using the drop-down arrow if needed.
   
   
   
   

   Info
   title Note
   Alternatively, you can uncheck Enable Motion in the Motion Configuration window, select Collect Data, and jog the stage manually over the full travel using A3200 Motion Composer.

   
   

10. If at some position the Lissajous becomes much larger than the ideal Lissajous, repeat the tuning procedure with the axis located at this position, then verify over the full travel again.
11. The feedback gains that are calculated by the tuning algorithm are set as active on the controller but are not committed to the file system. To commit the parameters to the file system for future use, select the Commit Parameters button.
    
    

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