diff --git a/docs/src/tuning.adoc b/docs/src/tuning.adoc
index 55bdb744..d507dce6 100644
--- a/docs/src/tuning.adoc
+++ b/docs/src/tuning.adoc
@@ -20,7 +20,7 @@ conf0.mot_fb_rev
 ==== auto tuning
 this takes about 20 seconds +
 disconnect the motor from the load +
-the motor will move +
+the motor will turn with a max velocity of iddc0.test_vel (rad/s) and apply a max current of iddc0.test_cur (A) +
 follow the green instructions in Servoterm
 
 - set your config to
@@ -63,7 +63,7 @@ conf0.psi // torque constant [Nm/A] or [V/rad/s]
 ==== auto tuning
 this takes about 20 seconds +
 disconnect the motor from the load +
-the motor will move +
+the motor will turn with a max velocity of idpmsm0.test_vel (rad/s) and apply a max current of idpmsm0.test_cur (A) +
 follow the green instructions in Servoterm
 
 - set your config to
@@ -96,7 +96,7 @@ conf0.j_load
 === auto tuning
 this takes about 3 minutes +
 connect the motor to the load +
-the motor will move +
+the motor will move between idm0.min_pos (rad) and idm0.max_pos (rad) with a max velocity of idm0.max_vel (rad/s) and a max acceleration of idm0.max_acc (rad/s^2) +
 follow the green instructions in Servoterm
 
 - set your config to
@@ -129,7 +129,7 @@ conf0.vel_d
 === auto tuning
 this takes about 2 minutes +
 connect the motor to the load +
-the motor will move +
+the motor will move between ids0.min_pos (rad) and ids0.max_pos (rad) with a max velocity of ids0.max_vel (rad/s) and a max acceleration of ids0.max_acc (rad/s^2) +
 follow the green instructions in Servoterm
 
 - set your config to