Mathematical model for Dynamixel motors

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Hi.
I am using PH54-200-S500-R (RS485). Communication is with my ROS programs using U2D2 as the hardware interface under position mode. I note that, while having access to the PI, PD gain coefficient, I could not gather the mathematical model of the motor itself to fine-tune my PI and PD coefficient gains. But since Robotis provided a Performance Graph, could it be possible to get that model of the motor from that graph. Has anyone attempted modeling the motors into a differential equation? Thanks so much, and looking forward to your input.

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Unfortunately, the ROBOTIS does not provide the detailed PID modeling except the diagram of processing P.I.D for its operating mode.

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However, as the controller period is not sharable, the P.I.D should be tubed manually,

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Hi @hafizIman
Did you solve it by manual tuning? If yes can you please let me know how you did it?

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ROBOTIS newly released the new PID setting video. See DYNAMIXEL Tips | DYNAMIXEL Position Controller PID Gain Tuning (feat. Arduino example) - YouTube