I am having an issue when executing my MC_MoveRelative block (the shared image shows MC_MoveAbsolute, but the problem is the same with MC_MoveRelative): when the velocity is below 200, the axis moves normally to its target position. However, as soon as I exceed this speed, the axis triggers an error (sometimes after taking only one or two steps). My code is located in the Main [OB1], and here is a screenshot of my V-ASSISTANT configuration for review

Hello,

You can use TO or Basic Positioner. Not both.

Here is an example project. 

Position Control of SINAMICS V90 with SIMATIC S7-1500

https://support.industry.siemens.com/cs/ww/en/view/109780895