I did some more testing with the VFD tonight and I have found out how to get around the input panel and change all the program settings. I re set the drive with a P013 command and then set the min and max frequency.
It then would try to start but would fault and give a E-O-C-A or over current error. I could not get past this by slowing the ramp up time (PD014) so I changed the motor to 440V to lower the current draw.
It then would run and this allowed me to change some settings to see how they worked.
After a bit more looking around in the manual I found a setting for low frequency voltage setting called "Min Voltage" PD010. This allowed me to set the voltage applied at start-up. I don't know why but it was set to 100V. I lowered it to 50 and it worked fine.
It looks like I will need to do some longer term testing to see how much current I can run at low speeds so I can set the voltage level.