Does the motor have 8 wires? Do you have a link to the motor spec sheet?
Based on the motor's inductance you can figure out the maximum recommended voltage to use with the motor.
If you can wire the windings in series instead of in parallel, then I expect that you will be able to run them OK with 3.5 amps. Wiring the windings in series will call for a higher voltage to get the optimum speed. As the G540 is limited to a maximum of 50 volts, you will probably find that using a 48 volt power supply will be better than running it at 24 volts.