How to tune FOC PI loops in motor control workbench

[IAher.1]

Hello

Can you point me to some documentation regarding the tuning of the PI control loops in motor control workbench, I found this video https://www.youtube.com/watch?v=Tmq2PL8bf3g&list=WL&index=40, this outlines the procedure using the rev-up table current clamp and oscilloscope in sensorless FOC, however this method does not appear to work when using sensored mode(hall sensors) as the rev-up table in motor pilot appears to do nothing. I am using ST MCSDK 5.Y.3 Full version and STEVAL-SPIN3201

Regards

Ian