Those tuning guides shall give you a general impression of how to go through the tuning process of a SOMANET drive stack.
Click on one of the following links to get an overview of each tuning method.
Velocity PID tuning: Parameter Tuning Guide for Velocity PID Controller.
Position tuning with gain scheduling: Parameter Tuning Guide for Position Controller with Gain Scheduling.
Cascaded position tuning: Parameter Tuning Guide for Position Controller with Cascaded Structure.