Hello,

for positioning you need no PID.

Use only TO Positioningsxis and LaxisCtrl FB to release and move V90.

"LAxisCtrl" library

The standard application with the blocks of the "LAxisCtrl" library enables you to easily control extensive motion control functions of the axis type technology objects. By viewing the axis via a central block, programming and commissioning of axes can be made considerably easier. As an application developer, you do not need to familiarize yourself with the code of the axis module. You only use the interface of the block that behaves according to PLCopen. Technological peculiarities, e.g. when replacing cam disc synchronization, are taken into account internally in the module. A separate function module is available for each axis type (speed, positioning, synchronous axis, external encoder), whose interface is respectively tailored to the available functions of the axis type. The axis blocks therefore contain the sum of the inputs and outputs of the integrated PLCopen blocks. The uniform configuration of the different axis blocks makes it easy to switch between the different axis types.

https://support.industry.siemens.com/cs/ww/en/view/109749348

SINAMICS V90 PN on S7-1500 Motion Control

https://support.industry.siemens.com/cs/ww/en/view/109763991