IONI drive firmware release 1.1.0 brings a new useful feature that automatically measures motor characteristic resistance and inductance and completely takes the guesswork out of torque controller tuning.
Using automatic measure is the new recommended approach to set MR and ML parameters accurately even when motor data sheet would provide these values. This is because many data sheets unfortunately provide inaccurate values. Some manufacturers have apparently characterized motor inductance at high frequency range (hundreds of kHz) which typically gives a value more than 50% off from the real inductance.
Having accurate values also opens doors for sophisticated stepping motor control features such as advanced vibration damping which rely on accurate motor characteristics. This is a subject for another update!