DRV10975: Motor Heating Issues

Part Number:DRV10975

Hello,

 I have a DRV10975 connected up as per the recommended values in the data sheet. It is driving a Maxon EC20 flat motor.

The motor starts and maintains speed well, although seems slightly jittery (possibly commutation?) 

I have set the values based on the tuning guide slou395d, as best I can. 

The motor should draw around 50mA unloaded at max, wheras it draws almost 1A, and gets hot. 

Any idea which parameters may be causing this and where to start tweaking things?

Many Thanks, 

Sam