Hi Deepak,
For the first issue, can you please check on 'Display' page of GUI which 'Fault Code' is getting activated when motor stops. Each fault code corresponds to one of the lock shown on 'Advanced setting' page of GUI
If you see fault 0 (overcurent fault), then increase 'Lock Detection Current Threshold' on advanced setting page, decrease 'Acceleration current limit' on 'Basic Setting' page and fine tune motor resistance and motor kt
As far as starting motor with IPD is concerned, it should have smoother start compared to align and go method,
I would recommend you to refer user guide for IPD
Regards,
Krushal