Hello Woj,

I think there is nothing much more of what you are referring. If you mean for optimization the regulation of the position control loop, then it is a matter of experience and lot  (AND LOT) of tests. Simotion has the thoughest kind of loop control of the world and it is not so easy to get the rid of all parameters involved in that closed loop control. Often I stop at basics parameters and thune the motor with them, because I have a diabolic fear of touching the others (because I am ignorant about them, of course).

What do you need exactly ? Reduce following error ?

please have a look to this information:

https://support.industry.siemens.com/cs/ww/en/view/60593549

Best Regards

Manfred