Siemens SINAMICS G120D Original Instructions Manual page 160

Setting functions
8.6 Basic positioner and position control
5. Adjust the integral time.
Start with an integral time of 100 ms, and test your setting by traversing the axis with the
active position controller using the "jog" function.
Lower integral times increase the control dynamics but can, however, result in unstable
controller characteristics.
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Converter with control units CU250D-2
Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA