We encountered issues with the drive parameters, particularly with the limits. Despite setting the correct limits and motor parameters, and successfully completing the ID run, the motor experienced a jerk and generated a 7310 fault when a reference speed demand was provided.

Upon further investigation, I discovered that the motor parameters provided by the manufacturer were incorrect. Specifically, the motor was rated at 32 Hz with a nominal speed of 986 RPM. For a 4-pole motor, the frequency-to-RPM conversion was inconsistent with these values. Consequently, I recalculated and reduced the nominal speed rating during the ID run test. This adjustment allowed me to successfully conduct trials with the motor.