Siemens SINAMICS S120 - Page 603

Function modules
8.14 Advanced Position Control (including Active Vibration Suppression)
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
603
Figure 8-36 Positioning response: APC ideally set
Measured signals:
Orange:
r0061[0] motor speed/velocity
Brown:
r3771[0] load speed/velocity
Light blue:
r3777[1] APC output