Allen Bradley Servo Tuning

Does anyone have some sample code using the MRAT instruction to tune a Servo? I have a CompactLogix with a 1768-M04SE card.

I've got my axis all defined and the card configured and I'm fairly comfortable with how I would use the instruction, but it would be nice to compare notes to an actual working system.

I'm especially interested in how to use the Tune Status variable.

I do not use MRAT
Usually I find that motion direct commands are better, get to watch what happens and can make sure the mechanics are all set up correctly ie hear the noise when the belt is loose etc