I have purchased HVMTRPFCKIT and running my servo motor rated 91V 1.6A and 0.64 Nm torque using HVPM enhanced sensorless project. Up to Build level 6 all the thing works properly. In Build 7 also if I don't put any load motor woks fine. If I put load first and then start motor, Motor stops showing high current protection though load is very small. If I gradually increase load step by step, at particular point is stops making noise but over current condition doesn't occurs. I tried to tune PI parameters but it doesn't worked. Making PI more and more active and fast cause problem of over current at one point. Everything works fine with load for current loop with LSW=1. Please help me for converting this to speed control loop with lsw=2.