Siemens SINAMICS S120 Function Manual page 607

Examples
Yel- Speed controlled system without encoder combination
low:
Red: Speed controlled system with encoder combination (p3702 = 0.3)
Figure 8-39 Encoder combination, effect on the speed control system
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
8.14 Advanced Position Control (including Active Vibration Suppression)
Function modules
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