ERROR_CURRENT_UNSTABLE in current control mode whren Odrive drives heavy load

Hi, I used the current control mode to drive a motor with heavy load. I’ve set the current limitation to
100A. I set the input torque to a large number, but ODrive failed with ERROR_CURRENT_UNSTABLE and sometimes even cannot communicated with PC. So why this will happen and how can I avoid this? Thank you.

Have you changed the requested current range? You should be using the 120A range.
Also, you may need to adjust current_control_bandwidth