Your voltage will be a little lower at the motor than the drive terminals because of losses in the cable. Let's assume that the motor terminal voltage will be 235 volts. A 240 volt drive is normally matched to a 230 volt motor. You also should not set it for your highest possible voltage as your incoming voltage levels can change over time - I would leave some head room.
Up to base speed (60 hz, 3450 rpm) the motor will typically run in constant volts per hertz. With that you have constant torque up to base speed and constant horsepower over base speed.
With your setup, you would get full torque up to 235 volts (3060 rpm). Above 3060 rpm, the voltage would stay the same but the hertz would continue to increase and the torque starts dropping off all the way to 3450 rpm.
At the end of the day, at 3450 rpm you would have approximately 90% of rated torque and horsepower at rated speed (3450 rpm). It will be proportionally higher if you have higher output voltage.
You should tell the drive that the motor is a 235 volt, 3059 rpm, 53.2 hertz motor but set the max rpm to 60 hz. That will give you the results I mentioned above.