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Follow these instructions if your stage can be Enabled without getting faults and can move short distances normally.

1. Run Automation1 Studio and connect to the controller.

1. Enable and jog your axis to the center of travel using

1. the Axis Dashboard at the bottom of the Automation1 Studio window. Tuning should be started approximately at the center of travel, away from crash conditions.

1. Navigate to the

1. Configure tab, Axes > Feedback category.
2. If you are in the Advanced editing view, click Go to Basic Editing in the top right corner.
   
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3. Select the desired axis from the axis list

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2. The axis will move automatically during the tuning process. Click View Motion Details to confirm the speed and distance which the axis will move.
   
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3. Click the Start button to perform automatic encoder tuning. The process will complete over the span of several seconds.
   
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4. You may examine the parameter changes by clicking Go to Advanced Editing if you wish.
5. Click the Save All button under the parameter categories to commit the tuning change.
6. The controller will reboot with the new encoder gains applied.

Follow these instructions if your stage receives any faults when Enabled, or if the axis is unstable. This process will require two people: one to operate the software, and one to move the stage manually/by hand (called the stage operator below). 

1. Run

1. Automation1 Studio and connect to the controller.
2. Have the stage operator physically slide your axis to the center of travel Tuning should be started approximately at the center of travel, away from crash conditions.
3. Navigate to

1. the Configure tab, Axes > Feedback category.
2. If you are in the Advanced editing view, click Go to Basic Editing in the top right corner.
   
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3. Navigate to the Manual Encoder Tuning tab at the bottom of the page.
   
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4. Uncheck the Enable Motion toggle.
   
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1. 
   
   
2. Have the stage operator oscillate the stage in a small range of motion at an even rate. This simulates the function of the Enable Motion feature.
3. Click

1. the Tune Encoder Parameters Image Added button to begin tuning.
2. The software will automatically calculate a corrected set of encoder parameters, shown by the red Lissajous below. The red Lissajous data is overlapping the ideal 1 Vpp circle, displayed in black. This may not always be visible; it is marked by the blue arro16pxws in the below screenshot. The stage operator may stop oscillating the stage now.
   
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3. Click the Apply Changes button.
4. Click the Save All button under the parameter categories to commit the tuning change.
5. The controller will reboot with the new encoder gains applied.
6. You'll be placed back on the Manual Encoder Tuning page where we will now confirm that the encoder gains are acceptable across the full range of travel. 
7. Have the stage operator move the stage back and forth across the entire range of travel, at a slow and even pace.
8. Click the Collect Continuous Image Added button to get the raw & corrected encoder data across the full range of travel. This will not modify the encoder gains.
   
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9. The data will continually update as the stage operator moves the stage. Observe the data over the full range of travel.
10. The corrected red Lissajous should remain on or somewhat inside the black 1Vpp circle.

1. If at some position the Lissajous becomes much larger than the

1. black circle, repeat the tuning procedure from the earlier steps with the axis located at

1. that position, then verify over the full range of travel again.

1. When you are satisfied that the encoder performance is adequate press the Stop Collection Image Added button and you may resume stage operation.