One of the benefits new to me was that auto-tuning or manual tuning is no longer recommended. The servo I worked with has a feature called Observer with Velocity Estimation. This is based on modern control theory. To use this, the servo drive must be set to factory defaults. Then the connected motor must be specified. Then Observer with Velocity Estimation must be selected.
The normal parameters must be set to select ramp rates and top speeds.
That’s it! Run the servo. It ran smoothly from the beginning, and apparently learns as it goes through stop start cycles.
The servo ran very well with this new mode. I confess that it did not run well earlier following the auto-tune procedure. The drive train included a huge gear ratio with lots of backlash. The drive needed excessive detuning to run stably.
With the Observer with Velocity Estimation, it ran perfectly and with great response.
Very pleasant surprise!