Abstract—The performance of gearless servo drives is significantly degraded by mechanical resonances in the system. For applications the parameters of the mechanical resonances of a drive are not known a priori. In order to improve the identification process of resonance frequencies this article introduces a simple and efficient real-time capable algorithm to detect multiple resonance frequencies in a single identification run. The algorithm will be implemented using a digital signal processor which runs on a frequency inverter. It uses the frequency neighborhood to compute peaks. The performance of the algorithm is shown with a synthetic multisine signal and a measurement on a machine, where a workpiece is mounted on a direct torque round table.