error in speed control mode

[Levansic]

Your PID values are way too high. Start with a P of 1 or even 0.1. Set the I to something between 0.1 and 0.01. Set your D value to 0.

A good way of playing "what if?" is using the BDC-Comm program to try different gain values. Apply a light load to output to see if the values are adequate, and use the best values you find in your code.