Brian,
I increased the Open to Closed Loop Threshold from 12Hz to 25.6Hz.
Set the T Control Advance to 600us
All other settings as before.
With the speed set to 100 I get
Motor speed 1638Hz
speed command 19%
Speed cmd buf 23%
with the speed set to 400 I get
Motor speed 1638Hz
speed command 78%
Speed cmd buf 23%
Thanks
John