Siemens SINAMICS S120 Function Manual page 606

Function modules
8.14 Advanced Position Control (including Active Vibration Suppression)
The weighting factor for encoder combination p3702 has, for compatibility reasons to
previous software releases, a default value of 1. For most applications, this value cannot be
activated. This value should be set to 0 before activating the encoder combination.
Negative values for p3702 are permissible. The oscillation is then shifted to lower
frequencies.
The gain of the differential pressure feedback is set in p3768. This parameter has stiffness
units (Nm/rad). Practical values for this parameter are approximately the stiffness of the axis
itself. This value can differ at a different axes.
Example: The mechanics forms a two-mass oscillating system with a quenching frequency of
20 Hz. The load moment of inertia is 0.01 kgm
A highpass filter for the differential position feedback can be parameterized in parameter
p3767. The default value is generally sufficient.
Measuring the function
The following measuring functions can be used to measure the "Encoder combination" and
"Differential position feedback" functions:
● Speed controlled system (only encoder combination visible)
● 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)".
606
. The stiffness is then given by:
2
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Drive functions