No video, but it's not difficult, just finicky.
I calibrated Axis 1, and the controller informed me that there were no other axii to calibrate, so I guess it was the only one out of whack.
Then, I tried to run axis 1 through it's complete angular range and I hit the physical stop on the extreme "+" side : emergency stop caused by over-current in motor 1.
I suppose my mastering is bad, but man ! If there is so little margin between software and physical stops, it is going to be really difficult to tell when the mastering is "acceptable"...