Siemens SINAMICS S120 Function Manual page 621

APC applied to master-slave axes
With axes, which form a master-slave group with several drives, generally only 1 direct
measuring system is integrated, which is generally assigned to the master. If APC is to be
used with an axis such as this, using a direct measuring system, then frequently the effect is
not sufficient when only the master is parameterized. By using BICO to connect the speed
actual value, then also the slave drives can be parameterized with APC and the
effectiveness of the function is increased. To do this, the slave drives must be parameterized
as follows:
● p3700.9 = 1
● p3749 = Master.r3771[0]
● p3748: The scaling must be appropriately set.
When doing this, different gearbox ratios, different direction rotation, and if the motors
used for the master and slave have different rated speeds, the ratio of the scaling
parameters p2000 must be taken into account.
Miscellaneous
In this document, APC has been subdivided into 4 main subfunctions. In principle, APC
allows (almost) any combination of these subfunctions. In the document reference was made
to constellations where such a combination can make sense.
It is recommended that the Kp/Tn adaptation of the speed controller is deactivated (p1400.5
= 0), as the speed controller acts as subordinate control loop to the APC control loop.
Drive functions
Function Manual, 11/2017, 6SL3097-4AB00-0BP5
8.14 Advanced Position Control (including Active Vibration Suppression)
Function modules
621