In the auto tuning，the Rotate axis include Differential Gain, the lifting axis the Differential Gain.
How to determine whether to use Differential Gain？
I find the difference between Rotate axis and lifting axis， Rotate axis’s encoder is Synchronous,while the lifting axis 's encoder is Asynchronous。
In addition to encoder,What else to consider？
The tuning wizard will automatically determine whether to use the differential gain. For manual tuning, use the differential gain if the other gains are not providing sufficient control. For systems that are moving at high speed and rapidly changing velocity, the differential gain is useful. The differential gain cannot be used very much if the feedback is noisy.