Closed loop, mixed control

I recently got 2 AX2850's, and from reading the manual I see it can operate in open-loop, mixed operation. Can it also run as closed-loop, mixed operation? I want to use the mixed operation feature so I can just send one command to the controller in order to turn or move forward, etc but also have the feedback from the encoders.
Thanks!

There is no problem running in mixed mode and closed loop at the same time.