# Tuning and Configuration of IONI Motor Controllers
## (What the wiki is missing)
The [IONI wiki pages](https://granitedevices.com/wiki/IONI_user_guidebook) are a great resource, however they can be lacking in some areas and hard to understand at times. This document hopes to help with troubleshooting and setting up an IONI motor controller for the first time.

## Start Here

1. [Signal Path](https://granitedevices.com/wiki/Signal_path_of_motor_drive)
2. [Trajectory Planning](https://granitedevices.com/wiki/Trajectory_planner)
3. [Servo Tuning Basics](https://granitedevices.com/wiki/Servo_tuning_basics)
4. [Setting Parameters](https://granitedevices.com/wiki/Argon_user_guide/Drive_parameterization)
5. [Tuning Torque Controller](https://granitedevices.com/wiki/Tuning_torque_controller)
6. [Tuning Position Controller](https://granitedevices.com/wiki/Tuning_position_controller)
