What feedback do you have going to the drive?
Traditionally, the drive is used only as an amplifier. The current loop is closed in the drive, while the velocity and position loops are closed in the controller. It is usually also possible to close both the current and velocity loops in the drive, and the position loop in the controller. Nowadays, it is also somewhat common to close all the loops in the drive, and the controller is relegated to higher level control and motion profiling. In this case, the drive is either in step and direction mode, or it is on a motion network(EPL, SERCOS, Mechatrolink, etc.). So at the very least, you must tune the current loop. Parker offers a utility to do this configuration, but you need to tell it you are using it in torque mode. Yaskawa has a serial encoder that tells the drive what motor is connected to it, and there is no need to tune the current loop. I recommend using the Aries as a dump amplifier and only tuning the current loop in the drive. Close the other loops in the controller.
Well this is perfect testimonial for RTFM, as doing so allowed me to get everything up and running quite stably in the first place. And, since I have already tuned the Aries unit, that "my work here is done".
So I guess that the Parker tuning is really more a function of the drive/motor/encoder recognition rather than a tune of the overal system.
I am going to leave this thread open for a few more days just incase anyone wants to weigh in.
This isn't really a question that can be answered, it's more of a discusssion, so I'll see if anyone else has any opinion.