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
https://acsmotioncontrol.com/engineerings/acs-technical-training-session-2/
Understand bandwidth
How to add a manual notch filter on resonance – @12:46
https://acsmotioncontrol.com/engineerings/tutorial-108-motor-setup-and-tuning-part-4/
Understand gain crossover and phase cross over:
Useful basics on a FRF (awesome):
https://community.sw.siemens.com/s/article/what-is-a-frequency-response-function-frf
Example direct drive mount tuning:
ACS Manual Tuning:
https://acsmotioncontrol.com/engineerings/tutorial-108-motor-setup-and-tuning-part-4/
ACS Auto Tuning:
https://acsmotioncontrol.com/engineerings/tutorial-201-autotuning/
Analyzing the FRF of a Motion Control System
https://acsmotioncontrol.com/engineering-resources-downloads/?cat=white-papers#