This paper presents a direct PID tuning method suitable for spindle motor test and measurement systems. In these systems, the electrical parameters (the armature resistance, the armature inductance, the electromotive force constant) as well as the mechanical parameters (inertia and viscous constants) will be measured or extracted. Based on these parameters, the controller can automatically be designed either in simulation packages or analytically. The latter approach is recommended as these systems typically run on a firmware environment, utilizing either HDL or C. Utilizing this method will greatly minimize any laborious and time consuming tuning. The validity of the proposed method is demonstrated through simulation.