@Antun_Skuric. Thank you for your response. It’s incremental encoder with 800 ppr. So the quad is 3200. Velocity is set from 2, 3, 4, 5, 6. Haven’t tried any larger numbers yet. The problem above shows up more quickly when you change the velocity settings. Ie. change from A2 to A3. It happens to closed loop control now whether it is torque or velocity. I did test it with studio or standalone hard coded mode. It appears to behave the same way. I have a short video for the motor but dont know how to upload to this forum. Open loop is no issue.