The knowledge of electrical and mechanical parameters of high-performance electromechanical drive systems is of paramount importance for designing high-performance controllers and/or developing accurate simulation models. By high-performance control is meant least torque (position) ripple for torque (position) control. Machine parameters are typically load and temperature dependent. This makes their estimation a challenging task. In this paper, a simple and robust method for parameter estimation at rotor standstill is presented. The estimated parameters are stator resistance through dc test, dq inductances using high-frequency injection and permanent magnet flux by means of a closed-loop speed control maintaining rotor stationary. The proposed method does not require either locking the rotor or additional/special power supplies. The validity of the suggested method has been verified by implementation on Interior Permanent Magnet Synchronous Motors (IPMSMs). Finally, the estimated parameters have been compared against results obtained through finite element simulations and with machine magnetic characterization, separately performed, to validate the method's effectiveness. Saturation and cross-saturation effects are taken care of through amplitude modulation and cross-axis current application, respectively.