Siemens SINAMICS S120 Function Manual page 608

Function modules
8.14 Advanced Position Control (including Active Vibration Suppression)
As a result of the encoder combination, the quenching frequency is increased from 20 Hz to
24 Hz.
Yel- Reference frequency response speed controller without differential position feedback
low:
Red: Reference frequency response speed controller with differential position feedback
Figure 8-40 Differential position input, effect on the reference frequency response speed controller
As a result of the differential position feedback, the resonant position is shifted to a higher
frequency. The damping effect of the speed controller is increased with the same controller
gain.
608
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Drive functions