Siemens SINAMICS S120 Function Manual page 570

Function modules
9.14 Advanced Position Control (including Active Vibration Suppression)
Examples
● The following figure shows an example of the effect the "APC with encoder combination"
has on the speed controlled system.
Yel‐ Speed controlled system without encoder combination
low:
Red: Speed controlled system with encoder combination (p3702 = 0.3)
Figure 9-43 Effect on the speed controlled system
As a result of the encoder combination, the absorber frequency is increased from 20 Hz to
24 Hz.
● The following figure shows an example of the effect the "APC with differential position
feedback" function has on the reference frequency response of the speed controller.
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Function Manual, 06/2019, 6SL3097-5AB00-0BP2
Drive functions