Offset Calibration Under Heavy Loading

What are the implications of offset calibration under loading?
The link says

“During encoder offset calibration the rotor must be allowed to rotate without any biased load during startup. That means mass and weak friction loads are fine, but gravity or spring loads are not okay.”

The calibration seems to be successful as I can put Odrive into velocity control mode. However, one of the axes cannot track the commanded setpoint at high speed. Also, that motor heats up too much. May this be because the offset calibration routine cannot lock the motor in place properly under loading before the scan?