Regarding VFD starting, this depends of the VFD and motor design.

Many VFD's can provide enough starting torque to twisting the motor shaft to destruction at near zero speed. Imagine the motor curve from synchronous speed to the breakdown torque. This occurs at near full speed. As you drop the VFD frequency, but maintain the voltage, the VFD slip curve slides towards zero speed. At low speed, near 2-5 hz, the VFD can nearly pull breakdown torque. Most VFD's can provide your higher nominated starting torque than motor nameplate if the inverter has the rated commutating capacity. Short term higher torques is common and depends on the duration. So, you need to define the duration and check against inverter specification. When you turn down the motor hertz, via the inverter, you shift the breakdown torque curve toward the initial starting RPM. Ask the inverter supplier for details. In a Scalar drive (V/Hz only), the drive spits out a Voltage a Frequency according to the speed you

have selected. But the VFD has no idea whether or not that had the desired effect on the motor and load; it does it's thing and hopes for the best. If the load turns out to be more than the motor can handle, the motor slows down, the slip increases and the motor pulls more current and creates more torque, but this is a "sloppy" process at best. So essentially the drive provides an output, the load creates an "error" in performance, but the drive doesn't really do anything about it. The end result is not always effective. In Vector control, the VFD uses feedback from the motor to see the error, then to determine the exact vector of voltage and frequency to produce exactly what is needed to correct the error. It has a high speed processor to crunch the numbers and quickly tweak the output voltage and frequency pattern to maximize the torque and / or tighten the speed regulation. Because of this, you can operate a motor at Breakdown Torque at any speed, even zero if necessary. Vector control can be accomplished with external feedback from encoders called Closed Loop Vector or Field oriented Control (FOC), as you are doing, or with what is called "Sensorless Vector Control" (SVC) or "Open Loop Vector Control". Both names are technically incorrect; there is always a sensor and it is always closed loop. But the difference is in that what is called SVC uses very sensitive current sensors inside of the drive to watch exactly what is going on, and comparing it to a mathematical model it has created of the motor during setup (the "tuning" procedure). Both methods work fine, but the SVC has one limitation; it cannot watch the motor performance if the motor is not moving, i.e. zero speed; like what you would want with a hoist. FOC, where you have the encoder feedback, can do that.