Your speakers should have come with a little microphone, size of a silver dollar, about 5/8" tall, place that at about ear level, on your remote you their should be a ACAL or Auto Cal button, or you can go into the menu and under system(its been a while) or at the very end of scrolling down it will have auto calibrate, and then you click the enter button on your remote. It will count down a few seconds and then you will hear sound coming out of the speakers, should take about 30 seconds.
Otherwise, you will need to set the distance and decible (dB) level yourself under the speakers option on the menu. Get out your owners manual and have fun.
you don't need to have a sub for auto cal.
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