Based on the information you provided, replacing the 'FOC Autotuner' block with a 'Closed-Loop PID Autotuner' block is feasible. The error message you posted indicates possible sample-time mismatch associated with the inserted 'Closed-Loop PID Autotuner' block. To view sample times used in the model, please refer to the following link: https://www.mathworks.com/help/simulink/ug/how-to-view-sample-time-information.html
To resolve the issue, you will need to use 'Rate Transition' blocks to interface blocks with different sample times.Please also note that the 'Current Control' subsystem is a triggered subsystem, which is different from a block with fixed sample time. This triggering settings are because of its synchronization with ADC interrupt (explained in https://www.mathworks.com/help/mcb/ug/prepare-task-scheduling.html). Sample time settings also need to be adjusted accordingly.
