Tuning servo motor

Does it have to do tuning after replacing servo motor?

and it must be at no load in case of tuning of servo motor.

If you put in the same motor (same inertia, same coupling and so on) theoretically you don´t have to optimize again. But if the mechanic system changes, also resonance frequencies are changed. It depends if this could create a problem on your machine, if it have a rigid optimization.

Please check the new function manual - there are a lot of new functions for tuning described, like one button tuning and so on:

https://support.industry.siemens.com/cs/ww/en/view/109740020