Deviations in the validation measurement

Problem

The results of the autotuning are not consistent. When analyzing the TwinCAT 3 Bode Plot project, a clear deviation can be seen between the propagated ("Calculation result", blue) and the measured frequency response (red) with the determined drive parameters.

Deviations in the validation measurement 1:

Solution

Use one of the supported observer modes and follow the instructions in TwinCAT Drive Manager 2. The selection of the observer influences the mechanics of the system and must be set correctly.