The integral term of the velocity controller can be deactivated via the signal input function "Velocity Controller Integral Off". If the integral term is deactivated, the integral action time of the velocity controller (CTRL1_TNn and CTRL2_TNn) is implicitly and gradually reduced to zero. The time it takes to reduce the value to zero depends on the parameter CTRL_ParChgTime. In the case of vertical axes, the integral term is needed to reduce position deviations during standstill.