[jnnewton]

ok,
I ran the motor test, both on ac and bldc, and both ways it tells me it found 2170 which is correct for a 4 pole motor. I then ran the moveabs command with both 4 pole and 6 pole setting. On the 4 pole setting, the motor started to move and then locked. With a 6 pole setting, the motor spun up to a very high speed. So, I believe the motor is ok with the 6 pole setting, even though the test configuration seems to think 4 poles is correct.

I did some more tests, with some different gains and current limits. Attached are a couple of these plots. Maybe they will provide some insight. Both are from the 6 pole setting.