The following is a list of operations to carry out to calibrate the space control of the axes (PI + FF).
The space feedback permits to correct the axis position according to the follow error rilevato.
In this page the data in yellow are those that allow to program the axis calibration parameters.
The data in green is service data that loses significance when this page is exited.

The following operations must be carried out when the following parameters have been set in the axis parameter screens:

• RESOLUTION: set the correct resolution.
• MAX POSITION: enter a very large positive setting (Es.: 9999 mm)
• MIN POSITION: enter a very large negative setting (Es.: - 9999 mm)

To carry out one of the calibrations described above, there must be the following conditions:
Make sure that the emergency stop shuts off the power to the motors so that a safety condition can be entered in the event of uncontrolled machine movement.

Restore any emergency conditions on the machine by resetting the alarms.

Setup of the parameter OFFSET
1	Press to activate the calibration.
2	Enter 0 (zero) in the parameter OUT VOLTAGE.
3	Adjust the parameter OFFSET (by direct entry, using the buttons , , or by the automatic procedure from the button ) so that the axis POSITION is not variable (or varies very slowly).
4	Press to disactivate the calibration.

Check count and direction of rotation:
control that an output voltage greater than 0 (zero) corresponds to an increasing variation in the axis position.
1	Press per attivare la calibrazione.
2	Enter a positive value in parameter VOUT.
3	Check that the POSITION parameter increases.
4	Press to disactivate the calibration: the output voltage VOUT goes to zero without a ramp.
5	If the motor does not rotate in the correct direction change the cabling by inverting the PHA and PHB signals.

Maximum speed:
determine the axis movement speed that corresponds to a 10V output voltage.
1	Press to activate the calibration.
2	Enter a positive value in the parameter VOUT (If possible enter a value close to 10V).
3	Read the value shown in parameter SPEED.
4	Determine the value of parameter MAX SPEED with the formula: $ \text{MAX VELOCITA} = \dfrac{10\cdot \text{VELOCITA}}{\text{VOUT}} $
5	Press to disactivate the calibration: the VOUT output voltage will go to zero without ramp.
6	Enter the value calculated in MAX SPEED.

Parameters for the space feedback:
the parameters involved are FEEDFORWARD, PROP. GAIN and T INTEGRAL. When the previous steps have been completed correctly, continue as follows:
1	Enter 100.0% in the parameter FEEDFORWARD.
2	Enter the minimum setting (0.001) in the parameter PROP. GAIN.
3	If the FOLLOW ERR reading is different to 0 (zero), an axis movement that tends to reduce this reading should be noted.
4	Now enter a space setting in the parameter DELTA and a speed setting in the parameter SET SPEED (lower than MAX SPEED).
5	Press to start the sequence of axis movements.
6	The axis being calibrated starts a forward movement equal to the space in DELTA at the speed in SET SPEED.
7	At the end of the first positioning, the axis returns to the initial position to then restart the movement.
8	During these movements, control the FOLLOW ERR reading and adjust the parameters FEEDFORWARD and PROP. GAIN to try and keep its value as low as possible. Follow these criteria: Gradually increase the PROP. GAIN setting until the axis does not vibrate excessively in the stop stage. Then slightly reduce the value to obtain an acceptible behaviour. The FEEDFORWARD setting must be varied according to the following rule: FOLLOW ERR. >0 <0 Direction of movement Forward Increase FEEDFORWARD Reduce FEEDFORWARD Backward Reduce FEEDFORWARD Increase FEEDFORWARD
9	During these movements overshooting the threshold for the follow error does not create a machine alarm, but is simply signaled by the symbol . So great care must be taken during this stage to the modifications of the PID parameters.
10	Press to conclude the positionings.