Jerky Motion of BLDC with Hall sensor with VBL2350, Urgent requirement

We are using the BLDC Motor with hall sensor from Dunker Motor Germany. The motor has 10 pole as per the datasheet. When i running the BLDC motor in open loop it is working fine. But when i tried for the close loop Speed and position control the motor jerky motion observe.I have ordered such 10 motors and 5 VBL2350 motor driver from RoboteQ. Please let me know how to resolve this issues.
Please find the attached datasheet for the Motor. Its urgent requirement for us to display our products to customer on 10th March 2012.

Try the attached firmware. It incorporates recent changes made to the BL speed capture.

Smooth motion in closed loop will depend in the accuracy of speed sensing. On a high quality motor, this should not be a problem but first verify, while running in open loop, that the reported speed is stable.

Then, when closing the loop, use P=1, I=2, D=0. Note that the I gain is the most important in speed control.

Beware that since the speed is measured by measuring the time between changes in the hall sensor pattern, at low RPM the speed is not measured as often, and so the closed loop algorithm may have difficulties running smoothly at slow speeds.

firmware file

Thanks for the updated firmware. I have tried this firmware to installed on the VBL 2350 using Roborun+ but i am getting the error \"Checking firmware error,programming completed message not detected\"

How to resolve it.

reset the controller. If starts OK, check the firmware date in the status bar at the bottom of the utility. If correct, the firmware loaded correctly.

Please find the attached doc file for error.

THe controller correctly restarted and displayed the correct firmware ID. Firmware update was successful

When we power up the controller the error \"Power Unit not recognize \" and in roborun+ control unit is \"V-type\" showing instead of VBL2350 and controller model missing.

Your word doc shows that the response to ?TRN is correctly TRN=RCB200:VBL2350

So Roborun should recognize it.

Try sending ?TRN again from the console. If you get the same response but Roborun says it is unrecognized, then there is something wrong with the PC utility.

If it worked before and now not, this would be a mystery.

Otherwise, make sure you have a recent version of the utility.

I have download the new Roborun from the RoboteQ site and again update the firmware you have send. It is working fine in open loop but now there is no response in close loop speed and position mode,with previous firmware it was jerky motion. Is this new firmware or old one? I have just ordered the RoboteQ 15 days back(15 feb 2012 and i have received on 1st march 2012) . I am from Hi Tech Robotic Systemz Ltd from INDIA. Please check how to proceed its urgent.