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#