Siemens SINAMICS S120 Function Manual page 612

Function modules
8.14 Advanced Position Control (including Active Vibration Suppression)
Examples:
Yellow Speed controller reference frequency response
Magenta APC closed circuit (load speed/motor speed), measured with APC inactive
Green APC open circuit (filter 1 output/motor speed), p3761 = 3 ms
Figure 8-41 APC circuit open
612
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
Drive functions