I think I have fixed it :)

Two parameters -

PN020 - Motor rated speed - this is set by default motor settings
PN051 - Motor Max Speed - this is a user adjustable one

PN051 Max was set at 3000 - i had tweaked this before but not the other one as it's a default setup one.

I have now set both to 3050rpm and away she goes :)

My working theory is that the controller was calling for 3000 but the drive was maxing out somewhere around 2990 - where it faulted so it was stuck in an endless fault loop - controller saying "I want more” and the drive saying “you can't have it”

Short video…

https://youtu.be/ksGlgcCWO4s

I think it makes sense??

Also in the video you can see it runs with a error of about 1980 - is that god, bad, ugly??

I can tune it but have not idea of tuning spindles - as said above, they are nothing like axes drives.

Thanks for all the help BTW.