The SureServo drive closes the loop on current, velocity, and position
(depending on control mode selection). Proportional gain, integral gain, feed
forward compensation, command low pass filter, and notch filter for
resonance suppression are available.

There are three tuning modes:

• Manual Mode
  for user-defined adjustments
  
  
• Easy Mode
  for default settings over a wide range of programmed inertia with 10 response levels
  
  
• Auto Mode
  for automatic adjustment using an estimated (or measured) value of inertia