Siemens SINAMICS S120, Function Manual

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Function modules
8.14 Advanced Position Control (including Active Vibration Suppression)
Drive functions
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Function Manual, 11/2017, 6SL3097-4AB00-0BP5
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.
There are two feedback branches for this function. Each branch is parameterized using a
gain factor (p3760 and p3765). Practical values for the gain generally lie between 0 and 1.
Filters can be activated for both branches (see function diagram and Chapter "Additional
information (Page 619)").
Measuring the function
The following measuring functions can be used to measure the "APC load velocity control"
functions:
● 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)".
Example:
The following diagram shows, in the time domain, how APC with load velocity control acts on
the motor and load velocity:
Blue Load speed
Green Motor speed
Figure 8-46 APC with speed input (example)
The motor speed with APC with speed input manifests a significant level of fluctuating loads,
which can result in more significant stressing of the mechanical components. Oscillation
frequency is increased.