MCSDK FOC Hall sensor speed oscillation

[Arun_bray_52]

MCU: STM32G4
Motor: DFA90L048017-A
DC bus: 24 V
Pole pairs: 11
Hall sensors: 120°
Hall pins:
    H1 = PB6
    H2 = PB7
    H3 = PB8

Motor rated speed: 1900 RPM
Hall electrical phase shift currently: 120° 

Problem:
- Motor starts and runs.
- At approximately 500 RPM command, actual speed oscillates.
- Motor can accelerate toward ~1000 RPM.
- Motor then briefly rotates in the opposite direction.
- Motor Pilot also shows approximately the same behavior.
- Hall interrupts are continuously generated.
- All six Hall states 1..6 are observed.

[GMA]

Hello ​@Arun_bray_52,

Did the user use the MC Workbench Hall Sensor Motor Profiler (see the Motor Profiler Application Note in the user manual from the MC Workbench tool)?
Verify the motor U, V, and W phase connections.
When using the STO-PLL as the main speed sensor and Hall as the auxiliary speed sensor, verify that STOPLL_EL_ANGLE and HALL_EL_ANGLE are aligned.