diff --git a/examples/foc/foc_cfg.h b/examples/foc/foc_cfg.h
index d80ff25b9..44f46c4ab 100644
--- a/examples/foc/foc_cfg.h
+++ b/examples/foc/foc_cfg.h
@@ -236,6 +236,14 @@ struct foc_thr_cfg_s
 #ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
   uint32_t posmax;              /* Position max (x1000) */
 #endif
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
+  uint32_t ident_res_ki;        /* Ident res Ki (x1000) */
+  uint32_t ident_res_curr;      /* Ident res current (x1000) */
+  uint32_t ident_res_sec;       /* Ident res sec */
+  uint32_t ident_ind_volt;      /* Ident res voltage (x1000) */
+  uint32_t ident_ind_sec;       /* Ident ind sec */
+#endif
 };
 
 #endif /* __APPS_EXAMPLES_FOC_FOC_CFG_H */
diff --git a/examples/foc/foc_main.c b/examples/foc/foc_main.c
index c985b3f9a..dc529862d 100644
--- a/examples/foc/foc_main.c
+++ b/examples/foc/foc_main.c
@@ -95,6 +95,13 @@ struct args_s g_args =
 #  ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
     .posmax = CONFIG_EXAMPLES_FOC_SETPOINT_MAX,
 #  endif
+#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
+    .ident_res_ki = CONFIG_EXAMPLES_FOC_IDENT_RES_KI,
+    .ident_res_curr = CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT,
+    .ident_res_sec = CONFIG_EXAMPLES_FOC_IDENT_RES_SEC,
+    .ident_ind_volt = CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE,
+    .ident_ind_sec = CONFIG_EXAMPLES_FOC_IDENT_IND_SEC,
 #endif
   }
 };
diff --git a/examples/foc/foc_motor_b16.c b/examples/foc/foc_motor_b16.c
index 29eb49e76..b2a8ef5cf 100644
--- a/examples/foc/foc_motor_b16.c
+++ b/examples/foc/foc_motor_b16.c
@@ -988,16 +988,16 @@ int foc_motor_init(FAR struct foc_motor_b16_s *motor,
   /* Initialize motor identification data */
 
   ident_cfg.per         = motor->per;
-  ident_cfg.res_current = ftob16(CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT /
+  ident_cfg.res_current = ftob16(motor->envp->cfg->ident_res_curr /
                                  1000.0f);
-  ident_cfg.res_ki      = ftob16(CONFIG_EXAMPLES_FOC_IDENT_RES_KI /
+  ident_cfg.res_ki      = ftob16(motor->envp->cfg->ident_res_ki /
                                  1000.0f);
-  ident_cfg.ind_volt    = ftob16(CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE /
+  ident_cfg.ind_volt    = ftob16(motor->envp->cfg->ident_ind_volt /
                                  1000.0f);
   ident_cfg.res_steps   = (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ *
-                           CONFIG_EXAMPLES_FOC_IDENT_RES_SEC / 1000);
+                           motor->envp->cfg->ident_res_sec / 1000);
   ident_cfg.ind_steps   = (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ *
-                           CONFIG_EXAMPLES_FOC_IDENT_IND_SEC / 1000);
+                           motor->envp->cfg->ident_ind_sec / 1000);
   ident_cfg.idle_steps  = CONFIG_EXAMPLES_FOC_IDENT_IDLE;
 
   ret = foc_routine_cfg_b16(&motor->ident, &ident_cfg);
diff --git a/examples/foc/foc_motor_f32.c b/examples/foc/foc_motor_f32.c
index 587744757..37103e0d2 100644
--- a/examples/foc/foc_motor_f32.c
+++ b/examples/foc/foc_motor_f32.c
@@ -972,13 +972,13 @@ int foc_motor_init(FAR struct foc_motor_f32_s *motor,
   /* Initialize motor identification data */
 
   ident_cfg.per         = motor->per;
-  ident_cfg.res_current = (CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT / 1000.0f);
-  ident_cfg.res_ki      = (CONFIG_EXAMPLES_FOC_IDENT_RES_KI / 1000.0f);
-  ident_cfg.ind_volt    = (CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE / 1000.0f);
+  ident_cfg.res_current = (motor->envp->cfg->ident_res_curr / 1000.0f);
+  ident_cfg.res_ki      = (motor->envp->cfg->ident_res_ki / 1000.0f);
+  ident_cfg.ind_volt    = (motor->envp->cfg->ident_ind_volt / 1000.0f);
   ident_cfg.res_steps   = (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ * \
-                           CONFIG_EXAMPLES_FOC_IDENT_RES_SEC / 1000);
+                           motor->envp->cfg->ident_res_sec / 1000);
   ident_cfg.ind_steps   = (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ * \
-                           CONFIG_EXAMPLES_FOC_IDENT_IND_SEC / 1000);
+                           motor->envp->cfg->ident_ind_sec / 1000);
   ident_cfg.idle_steps  = CONFIG_EXAMPLES_FOC_IDENT_IDLE;
 
   ret = foc_routine_cfg_f32(&motor->ident, &ident_cfg);
diff --git a/examples/foc/foc_parseargs.c b/examples/foc/foc_parseargs.c
index 1b382595d..f4e669a0b 100644
--- a/examples/foc/foc_parseargs.c
+++ b/examples/foc/foc_parseargs.c
@@ -39,6 +39,12 @@
 #define OPT_FKI     (SCHAR_MAX + 1)
 #define OPT_FKP     (SCHAR_MAX + 2)
 
+#define OPT_IRKI    (SCHAR_MAX + 3)
+#define OPT_IRC     (SCHAR_MAX + 4)
+#define OPT_IRS     (SCHAR_MAX + 5)
+#define OPT_IIV     (SCHAR_MAX + 6)
+#define OPT_IIS     (SCHAR_MAX + 7)
+
 /****************************************************************************
  * Private Data
  ****************************************************************************/
@@ -66,6 +72,13 @@ static struct option g_long_options[] =
 #ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
     { "fkp", required_argument, 0, OPT_FKP },
     { "fki", required_argument, 0, OPT_FKI },
+#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
+    { "irki", required_argument, 0, OPT_IRKI },
+    { "irc", required_argument, 0, OPT_IRC },
+    { "irs", required_argument, 0, OPT_IRS },
+    { "iiv", required_argument, 0, OPT_IIV },
+    { "iis", required_argument, 0, OPT_IIS },
 #endif
     { 0, 0, 0, 0 }
   };
@@ -127,6 +140,18 @@ static void foc_help(void)
   PRINTF("  [--fkp] PI Ki coefficient [x1000] (default: %d)\n",
          CONFIG_EXAMPLES_FOC_IDQ_KI);
 #endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
+  PRINTF("  [--irki] res Ki coefficient [x1000] (default: %d)\n",
+         CONFIG_EXAMPLES_FOC_IDENT_RES_KI);
+  PRINTF("  [--irc] res current [x1000] (default: %d)\n",
+         CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT);
+  PRINTF("  [--irs] res sec (default: %d)\n",
+         CONFIG_EXAMPLES_FOC_IDENT_RES_SEC);
+  PRINTF("  [--iiv] ind voltage [x1000] (default: %d)\n",
+         CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE);
+  PRINTF("  [--iis] ind sec (default: %d)\n",
+         CONFIG_EXAMPLES_FOC_IDENT_IND_SEC);
+#endif
 }
 
 /****************************************************************************
@@ -168,6 +193,38 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
             }
 #endif
 
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
+          case OPT_IRKI:
+            {
+              args->cfg.ident_res_ki = atoi(optarg);
+              break;
+            }
+
+          case OPT_IRC:
+            {
+              args->cfg.ident_res_curr = atoi(optarg);
+              break;
+            }
+
+          case OPT_IRS:
+            {
+              args->cfg.ident_res_sec = atoi(optarg);
+              break;
+            }
+
+          case OPT_IIV:
+            {
+              args->cfg.ident_ind_volt = atoi(optarg);
+              break;
+            }
+
+          case OPT_IIS:
+            {
+              args->cfg.ident_ind_sec = atoi(optarg);
+              break;
+            }
+#endif
+
           case 't':
             {
               args->time = atoi(optarg);
@@ -327,6 +384,23 @@ int validate_args(FAR struct args_s *args)
       goto errout;
     }
 
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
+  /* Motor identification parameters */
+
+  if (args->cfg.ident_res_ki == 0 || args->cfg.ident_res_curr == 0 ||
+      args->cfg.ident_res_sec == 0)
+    {
+      PRINTF("ERROR: missing motor res ident configuration\n");
+      goto errout;
+    }
+
+  if (args->cfg.ident_ind_volt == 0 || args->cfg.ident_ind_sec == 0)
+    {
+      PRINTF("ERROR: missing motor ind ident configuration\n");
+      goto errout;
+    }
+#endif
+
   /* Otherwise OK */
 
   ret = OK;