IONI Drive with Nanotec DF45 resonance problems

I have a problem regarding tuning a Nanotec DF45 motor with CUI 102 encoder.

My hardware configuration:
-IONI pro with Cube 1X
-Nanotec DF45 16 pole 3 phase 65watt BLDC
-1.7.10
-24V 25 amp Meanwell PSP600 PSU

Problems arise which are most clearly seen when tuning velocity:

-tuning velocity I am seeing a resonance which peaks in intensity at 1500 rpm and makes a medium high pitched noise with vibration. At higher rpm it is diminished.

-In the graph when testing at speed of 13 rev/sec it can be clearly seen as regular glitches in the velocity at intervals approximately .08 seconds. (12.5 hz)

I have attached following files:

-(screenshots)

Any suggestions appreciated…

Hey, check the power supply voltage graph together with velocity graph - 4*12.5 = 50Hz and that may hint PSU as source.

Thanks for the suggestion. I first thought that myself, but have since discovered it was actually the encoder. (The glitch is once per revolution of the motor…)