MCF8316A:Not stable at low RPM

Tool/software:

Hello.
I am trying to control a nail drill using a combination of MCF8316AEVM and ATmega328PB Xplained Mini.

In order to use it at a maximum of 30,000 rpm as a product, I have set the MAX_SPEED of the MCF8316A to 36,000 rpm and am controlling the rotation speed via I2C.
In this case, when the speed is set below 5,000 rpm, the rotation becomes unstable and stops.
Below are the current register settings.
Please let me know how to improve this.

This is my first time working with a motor driver, and I'm unclear about many of the meanings of the register settings, so I'm setting them up blindly.
I'd appreciate any advice you can give me overall.

uint32_t eeprom_regmap[eeprom_array_size][2] = {
	{ 0x80, 0x7C330D88 }, // ISD_CONFIG			
	{ 0x82, 0x702AF064 }, // REV_DRIVE_CONFIG	
	{ 0x84, 0x0B700D00 }, // MOTOR_STARTUP1		
	{ 0x86, 0x44066004 }, // MOTOR_STARTUP2		
	{ 0x88, 0x28A18070 }, // CLOSED_LOOP1		
	{ 0x8A, 0x4AFF4908 }, // CLOSED_LOOP2		
	{ 0x8C, 0x2480200A }, // CLOSED_LOOP3		
	{ 0x8E, 0x2187CE10 }, // CLOSED_LOOP4		
	{ 0x90, 0x1FE80206 }, // FAULT_CONFIG1		
	{ 0x92, 0x74000000 }, // FAULT_CONFIG2
	{ 0x94, 0x00000000 }, // SPEED_PROFILES1
	{ 0x96, 0x00000000 }, // SPEED_PROFILES2
	{ 0x98, 0x00000000 }, // SPEED_PROFILES3
	{ 0x9A, 0x00000000 }, // SPEED_PROFILES4
	{ 0x9C, 0x00000000 }, // SPEED_PROFILES5
	{ 0x9E, 0x00000000 }, // SPEED_PROFILES6
	{ 0xA0, 0x00B3407D }, // INT_ALGO_1		  
	{ 0xA2, 0x000001A7 }, // INT_ALGO_2
	{ 0xA4, 0x00000002 }, // PIN_CONFIG  	i2c
	{ 0xA6, 0x00100000 }, // DEVICE_CONFIG1 
	{ 0xA8, 0x0000B000 }, // DEVICE_CONFIG2
	{ 0xAA, 0x40000000 }, // PERI_CONFIG1
	{ 0xAC, 0x0C000100 }, // GD_CONFIG1			
	{ 0xAE, 0x00200000 }  // GD_CONFIG2
};