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
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