Useful information for offshore systems can be obtained by monitoring sea state parameters, but the accurate estimation of the on-site wave condition is challenging. This paper deals with motion-based wave estimation using neural networks. The main novelty of this contribution is the evaluation of the performance of the data-driven inference system with motion data from different draft conditions. The study is based on the simulated motions of a Floating Production Storage and Offloading (FPSO) unit with multiple loadings, subjected to typical sea conditions observed offshore the Brazilian coast. The inference models were trained to estimate two independent sets of wave related parameters, corresponding to modal wave statistics, which were post processed to identify single and double-peaked sea states. Results showed that estimation errors were quite similar along the evaluated drafts, with an overall good agreement between estimations and reference values. However, a limitation of the method regarding less frequent sea conditions was observed, even when significant wave response is induced. Also, an analysis of the robustness of the estimation models with respect to a draft variation of ± 0.5 m was carried out considering the global wave statistics, presenting small average deviations compared to the expected values.