How would one tune such an setup?

In which the driver also recieves the encoder signals making the driver.
control the "accelerator" loop and the dspmc the motion loop...

i use panasonic MHDA drives. they can be configured with panaterm.
Their autotune does setup quite some parameters.

Would it be adviceable to just do an autotune and de rest should be done by the dspmc PID settings??

My feeling says those loops can seriously interfere with another.

Where to start?