Beckhoff TwinCAT3 + AX5000 servo drive -> closed loop vector control

[Hendrickx_N 0]

I'm a student working on a master thesis, I have previously worked mostly using Siemens S7 PLC's... The goal (one of) is to set up closed loop vector control using an asynchronous motor and rotary encoder (directly attached), both of which are user defined in the TwinCAT/drive 'motor and feedback' tab of the devices... They are both working, but so far I've been using U/f control (P-0-0451) and S-0-0032 (primary operation mode) in velocity control to do so.. In order to use closed loop vector control do I simply have to change the P-0-0451 parameter to 'i-control with feedback'? Are the other things I need to take into account?   Thanks in advance...