Siemens SINAMICS S120 Function Manual page 614

Function modules
8.14 Advanced Position Control (including Active Vibration Suppression)
The following diagram shows, in the time domain, how APC with acceleration feedback acts
on the motor and load velocity:
Blue
Green
Figure 8-43
At the beginning, the motor must move more in order to combat oscillation.
614
Load speed
Motor speed
APC with acceleration input (example)
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Drive functions