Yaskawa servo tuning

Hi,

Yaskawa Sigma7 servos have some advanced auto-tuning functions with several modes,
and I'm trying to understand which one is the best in the context of cnc machine-tools.

What would you prioritize: lowest settling time or lowest positioning error? (See attached picture).
Servos will be used in position control mode, so the availability of the velocity control mode is irrelevant.

I don't know for sure, but I think in my opinion lowest settling time, because that would have the least amount of overshoot. but the ideal may be somewhere in between.

So for future reference the correct mode for CNC is the first one ("Standard").

I started with mode 2, which prioritizes settling time vs following error and ended up with oval circles.

Mode 1 optimizes for the least following error.