text: <s>[INST] Kinetix 6000 Tuning Tab I'm starting up my first machine since updating to ControlLogix Ver.16. I have 5 Kinetix 6000 servo's and all the modules updated to the latest firmware. Has anyone else noticed that the tuning function just doesn't seem to work anymore? Everything is tuning WAY too hot and squealing like a pig when any motion is attemped. I've had to de-tune manually to get drives to run. If anyone knows anything about this I'd really appreciate it. The customer won't let me go back to Ver.15 (which worked nicely!) [/INST] I'm not aware of any changes to the tuning scheme in the latest firmware, which btw looks like is 1.99. That being said, the methodology that I follow is the following: 1) Be sure that your conversion constants and drive polarities are all verified before doing any tuning.2) If linear, set axis close to zero position. Rotational does matter.3) Set travel limit a few inches shy of your total travel distance capable.4) Set torque to 100%.5) Set tuning speed equal to normal running speed.6) Then set direction to foward bidirectional.7) Check velocity error integrator and velocity feed forward8) Tune axis9) When popup window comes up, reduce tuning bandwidth by 50%. So if it's 80Hz, reduce it to 40Hz. Doing this will reduce all the gains proportionaly. You are literally reducing the response bandwidth of the system.10) If gains still appear hot, you can tune again and reduce by 60%. Depending on the inertia mismatch of the system, you may have to go as low as 75%. Just be warned that a system that low won't have much muscle to fight disturbances. I've only had to use numbers that low when customers have not used the right gearbox. Of course, there could always be something loose! :) Hope that helps. \\n </s>