DRV8711: TORQUE register change

Part Number:DRV8711

Hi, I am using BOOST-DRV8711 board and Encoder feedback. 

My application needs to drive the motor with different Torque(torque settings in decimal 20 to 50) on running state.

My Idea: whenever motor lose its position on changing load, this lost position can be restored by increment the TORQUE register.

I tried this, sometimes motor was disabled from DRV8711 control by writing new value on torque register and no fault status was observed.

I want to know, Can it work? Frequently changing the torque register will make any problem?. is there any restriction to change Torque?