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

Helps understand bandwidth:

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

Helps understand gain crossover and phase cross over:

This is awesome for basics on a FRF:

https://community.sw.siemens.com/s/article/what-is-a-frequency-response-function-frf

An example of tuning a direct drive mount:

ACS *Manual* Tuning:

ACS Auto Tuning:

Analyzing the FRF of a Motion Control Systems