AASD Servo driver and torque problem

Hello everyone,
I recently decided to change the spindle on my milling machine and also switch to a servo motor. However, I'm facing an issue: at low speeds, the motor doesn't seem to deliver its full 1.2 kW of power. It can practically be stopped with bare hands, which makes tasks like threading impossible. Is such behavior normal for a servo motor? I've tried searching for a solution online and on this forum but haven't had much luck.

Additional details:

• the spindle is controlled by a MESA 7I95 in step mode (Pn002=2);
• Pn098 = 20;
• the motor also has a strange behavior in maintaining speed - it fluctuates within quite large ranges, both when controlled by MESA and when using the driver's internal control Fn002.
• I tryed to play with Pn259 + Pn257 but without big success.
  
  Links to videos:
  photos.app.goo.gl/PPnikUve9ojGVg2q6
  photos.app.goo.gl/xt18cd4i8q22xdtWA
  
  Thank you for your help!

Is there a tuning utility for the drive? Sounds like it is not tuned and/or has a low torque limit setting

Unfortunately, no driver tuning utilities were provided, although it seems that there is a port for connecting a computer. If only we could find out what parameter can be used to set low torque limit...

 
 
 

You have feedback the encoder the servo?

Error code AL-04 :
1： Check the motor line U, V, W and
encoder line is normal.
2： Turn the power off half an hour,
electricity again, if the alarm is still there,
may be internal power module is damaged,
please replace the servo amplifier.
3: Speed loop and current loop pid
parameter Settings.


Maybe the problem is in point 3?
What happens at 0 speed and applied axle force?

You have feedback the encoder the servo?

Yes, I utilized the LinuxCNC HAL oscilloscope and observed all the relevant signals: A, B, and Index. However, what's intriguing is that the motor speed appears to be inconsistent, even when using the jog function (Fn002). For instance, if I set the speed to 100 RPM, the displayed speed value fluctuates between 85 and 125 RPM. This is why the encoder pulses also vary in length.

Maybe the problem is in point 3?
What happens at 0 speed and applied axle force?

In this scenario, I am able to slightly rotate the motor shaft (more easily in a counterclockwise direction than clockwise), but I am unable to trigger the Al-04 error. During this process, the display value of Dn002 increases to between 70 and 80 and then stabilizes, regardless of the amount of force applied. Additionally, when observing the same Dn002 value during the motor's operation at 100 RPM, the value also rises to 74, but this is immediately followed by the Al-04 error code.

photos.app.goo.gl/9fnouKu1NwuBShxn9