Function modules
8.14 Advanced Position Control (including Active Vibration Suppression)
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
611
Important notes for parameterization
The function always requires a direct measuring system. If an axis is equipped with a
measuring system (encoder 2 or encoder 3), then this can be selected using p3701. BICO
sink p3749 can be activated by setting p3700.9 = 1. The load speed actual value can now be
freely interconnected, e.g. from a master axis. Scaling can be set using p3748.
An external acceleration sensor can be used as direct measuring system. This must be
integrated in the system (e.g. using TM31) - and connected with BICO sink p3750. To
eliminate low-frequency disturbances from the measurement signal, a highpass filter can be
parameterized using p3751. The acceleration sensor for APC is activated with p3700.1 = 1.
There are two feedback branches for this function. Each branch is parameterized using a
gain factor (p3761 and p3766). Frequently, practical values for the gain lie in a range
between 1 ms and 10 ms; however, this depends on the mechanical system of the axis.
Filters can be activated for both branches (see function diagram and Chapter "Additional
information (Page 619)").
For applications where a high contour precision is required (in the mold making area) we
recommend that p3700.3 is set = 1. As a consequence, the setpoint motion of the axis within
APC is better taken into account.
The following measuring functions can be used to measure the "APC with acceleration
feedback" function:
● APC open circuit
● APC closed circuit
● Speed controller reference frequency response
● Position controller reference frequency response
You can find detailed information on how to perform these measurements in Chapter
"Measuring frequency responses (Page 622)".
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