What type of control is controler (s7-1500T) using when controling position in motion control application. By type, I mean ,does it use PID control or something else. As I was reading, i figured out that it generates position setpoints and then uses Kv gain, which makes no sense for me. Since for precise position control, PID is good choice.

Actually there are 3 loops involved. Current (the most inner), speed, position (the most outer). As the two first are PI, it's enough for position to be P.

Hi luka31,

a new FAQ has been published which might be interesting to you: SIMATIC S7-1500(T): Basics of axis control with technology objects and approach to axis optimization

In this FAQ the control loop of TO axes is explained.