I use the motor T-Motor MN4014 http://www.helipal.com/t-motor-mn4014-high-power-brushless-motor-400kv.h...
This motor has 24 magnets. I construct the ropeway and it is important to me to have uniform rotation from the minimum turns to maximum.
I use the mode a Duty cycle. The motor rotates not exactly, turns float. My encoder 5048 works well. It is visible on graphics at rotation of the motor a hand.
Maybe my motor isn't suitable for this controller because of a large number of poles? Here reference to video https://youtu.be/mG_iJTaX_IU