text: <s>[INST] CIP Motion - Commissioning Summary: CIP Motion - Kinetix 6500 MP Series Electric cylinders and Linear stagesHi everyone, I'm trying to put together a plan for commissioning and testing of CIP motion - Kinetix 6500 Drives with linear actuators. MP-Series electric cylinders, MP -Series linear stages and Parker actuators. Also a few rotational applications. A total of 26 Servo axes. I've identified the following activities once the mechanical and electrical install is completed. 1.Tuning linear stages. 2.Setting any soft limits. 3.Setting peak torque/Force limits. 4. Testing homing sequences. (Some to switch, others to positional error) 5. Testing positional accuracy/repeatably. Am I missing anything, and are there any best practice guidelines? Also would be helpful for rough timing estimates to commission each servo axes. Many Thanks David. [/INST] You'll need to get firmware on the drives matched to version number in your I/O tree, or else set the I/O tree devices to compatible. Make sure you have the most up-to-date AOP for your hardware. You have a major task in front of you, one that could be measured in weeks. Just getting all the drives to initialize and register properly in the motion group after power-up can be a challenge. If even one axis/drive gives you problems, the whole motion group is effectively paralysed. You'll discover that if you make a change to a drive in the I/O tree, the associated axis will reset various parameters to default. In the case of accels, decels, jerks, this is value of zero. If you forget to then move them to non-zero values, when you try to move the axis you'll get an error. You then have to set the max accel, decel, jerk, and try again. Over, and over, and over. \\n </s>