Below you will find some useful resources for tuning a direct drive system.

Note all ACS related links require an account on the ACS website.

SPiiPlus-MMI User Guide

ACS “Very Basic Control System Theory” – awesome @17:41

Understand bandwidth

How to add a manual notch filter on resonance – @12:46

Understand gain crossover and phase cross over:

Useful basics on a FRF (awesome):

Example direct drive mount tuning:

ACS Manual Tuning:

ACS Auto Tuning:

Analyzing the FRF of a Motion Control System