SDC2160 Closed loop counter pos mode

Hi all, I messing with cloosed loop modes. I'm using single motor fw version, I want move the motor to a counter position, so I assume what this mode it's ok (closed loop counter pos).

Then, I reset the counter setting open loop mode and sending "!C 1 0", later set "closed loop counter pos", and I send "!PR 1 10000" and the motor spins counterclockwise and anticlockwise indefinetly. Speed RPM and motor command is the same dir.

some advice?

Thank you

I guess something related by PID tuning, it's possible?

attached some pics

nevermind.

The position mode is going to utilize the P gain over the I gain. So your PID should have more P gain than I.

Thank you, works like a charm!!