Adjusting the servo drive’s internal characteristics to give it the ability to control the reflected inertia and gives the axis a smooth position/velocity profile. The process of Tuning involves setting the Velocity Loop Proportional Gain (KP), Position Loop Gain (KV), and the Velocity Loop Integral Action Time (TN) values so that the axis has a position/velocity profile allowing only as much position/ velocity error as the process will permit.