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

ACS Technical Training – Session 2

Understand bandwidth

What does bandwidth refer to in the context of servo systems?

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

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:

Tutorial 108 – Motor Setup and Tuning Part 4

ACS Auto Tuning:

Tutorial 202 – Smarter Autotuning

Analyzing the FRF of a Motion Control System

Resources Downloads