Hi guys, I'm developing a BLDC motor controller with load. I've bought a Maxon E40 motor . But some things i can't figure out: I wanna control position, speed and current (torque). I use PID controller to do it. In the closed loop system the output of the speed controller should be input of current PID controller. questions: 1) is this above true? 2) is it true that the torque and current are propotional also with the load??? example: If the torque constant is 2Nm/A and my load is 1Nm i need 0,5A to move the load??? or is the torque constant only propotional on no loaded motor...??? btw: why is it needful to controll the current???