If this crank of a hand pick tool is an oscillating object, you will probably do best to only static tune it with accurate entries, and use sensorless or flux vector mode. Even so, the performance of that drive in that situation is not going to be good, and depend on how heavy the swing in motor load changes.
We bought an oscilating shaker table type conveyor that is a really nice piece of hardware equipped with a Yaskawa drive on board it's base by the OEM as standar. But, our installation location was tight, narrow, wet and steamy and hard to access, so we used existing PF40 and wiring instead and could not get anywhere close to as steady a speed as what the OEM Yaskawa set up could do on other conveyors of the same design in other locations. I had to go up a notch in drive size, too, to be able to go above 40Hz without faults compared to the Yaskawa.