Part 1: Learn how to use the off-line tuning
it's quick and easy using the free Drive Configuration Management tool "DriveCM" from AutomationDirect.com.
To view part 2: "Learn how to use the on-line auto-tune where you can supply the exact waveform you want the servo to be optimized for! It's still easy, you just have more flexibility", follow the link to the playlist or search for VID-SV-0037.
L7C & L7P Servo Videos Playlist: https://www.youtube.com/watch?v=ibz04IenmTs&list=PLPdypWXY_ROrmv1rvx_KLrxFEm1wZPbL2