Overspeed error tuning help

Hi All,

I’ve got the odrive mostly running nicely, but have one persistent issue I can’t seem to get rid of:

When the robot jumps, gets unstuck, or has a large step transition on the requested speed (in velocity mode) it causes an overspeed error. I assume this is some kind of tuning issue, but I’m not sure where to focus my efforts so any assistance would be greatly appreciated.

All the best,