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I don't see why there should be any special procedure for a Sigma lens on a Nikon body. Canon have issued their own guidance on how to test, which will probably apply equally well to other brands, but you might want to double check whether there is anything peculiar you need to be aware of.
Here's the Canon version (scroll down a little to get to the right section) - http://digitaljournalist.org/issue0812/tech-tips.html
I guess one piece of advice you might take from the Canon advice is to test at not less than 50X focal length. For a lens at 500mm that means testing at a distance of 25m or more, not indoors across the dining table. Another alternative bit of advice is to calibrate at a "typical shooting distance for your photography". If you do routinely shoot your 500mm lens at 2m or 3m then you might indeed want to run your calibration at that distance, but more realistically, if you are using your long lens for shooting at large distances that should be where you perform your calibration, for the most pertinent and reliable results. You should probably also check out the performance at, say 150mm and 300mm, or something like that, in case different amounts of adjustment are required. You might need to settle for an "average" adjustment that best suits all focal lengths reasonably well, if not perfectly.
that works out that a 500mm lens should be 82 feet away from subject when testing,


I'm hoping Canon's next invenshun is leg stabilisashun