<p>For precision manufacturing, fast and accurate positioning of the load or the point of interest (tool center point, TCP) is crucial. However, structural low-frequency vibration modes caused by the machine base deteriorate the positioning precision at the TCP. Industrial motor drives typically rely on position measurements as feedback signals in a cascaded control structure. While directly mounting encoders at the TCP would enhance accuracy, this is generally impractical and costly. Instead, accelerometers, which are more suitable to install, can effectively measure vibration information at the TCP, which can be used for more effective positioning control. This paper presents a design method for active damping control in industrial servo drives, based on frequency response data. In this approach, motor-side position error and TCP-side acceleration signals are fed back to the position and damping controllers, respectively. The damping loop is tuned to provide the necessary gain and phase compensation for the position loop, resulting in a better-flattened closed-loop function on the TCP side. A straightforward tuning procedure for the damping controller is outlined, simplifying its application in servo drives. Experimental results on a direct-drive test bench validate the method’s effectiveness.</p>