The manual describes how to tune the cascaded position controller using the Auto-tuning feature.

Before conducting any of the tuning activities please check if motor is functional in torque mode and sensor data is transmitted normally. For high-quality motor control tasks, a precise and reliable sensor should be used. Quality of the motor position control may be insufficient with low resolution sensors, especially if a Hall sensor is used.

The current version of the auto-tuning feature allows user to tune a BLDC motor drive. A load can be attached to the motor. However, if the motor position has very strict limits this feature is not recommended, because the motor may make a few full turns.

Concept of Auto-Tuning

Auto-tuning is performed in two steps:

  • System identification Identifying the physical properties of the object to build a mathematical model of the target system.

  • Depending on the application, either position or velocity Auto-tuning can be performed:

    • Position auto-tuning Using the model to calculate controller gains that result in a specified position control-loop performance.

    • Velocity auto-tuning Tuning the velocity loop with Velocity Auto-Tuning for Cyclic Synchronous Velocity mode (CSV) or Profile Velocity Mode (from firmware 4.2 on).

Goal of Position Auto-tuning

The Position Auto-tuning process calculates the gains for the cascaded controller automatically.


The core of the cascaded controller is linear. However, there are multiple nonlinear additions: saturation, feedforward terms and integrator clamping.


In our experience, the cascaded PID controller structure is one of the most effective for motor control applications. For details see PID Controllers: Theory, Design, and Tuning

Goal of Velocity Auto-tuning

The Velocity Auto-tuning process calculates the gains for the velocity controller automatically.