Siemens SINAMICS S120 Function Manual page 611

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.
An external acceleration sensor can be used as direct measuring system. This must be
integrated in the system (e.g. using TM31) - and connected with BICO sink p3750. To
eliminate low-frequency disturbances from the measurement signal, a highpass filter can be
parameterized using p3751. The acceleration sensor for APC is activated with p3700.1 = 1.
There are two feedback branches for this function. Each branch is parameterized using a
gain factor (p3761 and p3766). Frequently, practical values for the gain lie in a range
between 1 ms and 10 ms; however, this depends on the mechanical system of the axis.
Filters can be activated for both branches (see function diagram and Chapter "Additional
information (Page 619)").
For applications where a high contour precision is required (in the mold making area) we
recommend that p3700.3 is set = 1. As a consequence, the setpoint motion of the axis within
APC is better taken into account.
Measuring the function
The following measuring functions can be used to measure the "APC with acceleration
feedback" function:
● APC open circuit
● 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)".
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
8.14 Advanced Position Control (including Active Vibration Suppression)
Function modules
611