Siemens SINAMICS S120 Function Manual page 576

Function modules
9.14 Advanced Position Control (including Active Vibration Suppression)
Figure 9-47
At the beginning, the motor must move more in order to combat oscillation.
● The following figures show an example of the effect of combined APC feedbacks.
Figure 9-48
Figure 9-49
574
Blue Load speed
Green Motor speed
APC with acceleration input
Control loop with two APC feedbacks
Load frequency response without APC
Function Manual, 06/2019, 6SL3097-5AB00-0BP2
Drive functions