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 performd in two steps:

System identification

The first step is to identify physical properties of the object to build a mathematical model of the target system.

Position auto-tuning

The second step is to use the model to calculate controller gains that results in specified position control-loop performance.

Goal of Auto-tuning

The tuning process calculates the gains for the cascaded controller automatically.


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


According to academic sources, the cascaded PID controller structure is considered to be one of the most effective for motor control applications. See PID Controllers: Theory, Design, and Tuning