We have measured the critical velocity v_c at which 3He-A in a rotating cylinder becomes unstable against the formation of quantized vortex lines with continuous (singularity-free) core structure. We find that v_c is distributed between a maximum and minimum limit, which we ascribe to a dependence on the texture of the orbital angular momentum l(r) in the cylinder. Slow cool down through T_c in rotation yields l(r) textures for which the measured v_c's are in good agreement with the calculated instability of the expected l texture.