PID block diagram available? (Torque Mode)

Hello there,

I am currently using the closed torque mode for one of my projects. To get the right P,I and D Paramters I did a simulation of the motor and the current control in Simulink/Matlab.
But sadly the paramters from the simulation do not work on the real system. So I guess the simulation is using an other version of the PID implementation as the one in your Controller.
Is it possible to get a block diagram of the internal PID-Controller for the torque mode?

This would help a lot for finding the perfect configuration. Using the iterativ process you recommend, takes a lot of tinkering.
(Controller is HBL2360)

Is this internal PID configuration classified or is my question not quite understandable?

try looking in the "Advanced digital motor controllers user manual" ( dev.roboteq.com/dev1/index.php/docman/mo...ers-user-manual/file ) at page 100

I would guess that you could just replace position with current.