[ozrien]

Cool. You should be able closed loop position with that. I've tested closed-looping a quad encoder right to the output shaft of a CIM (>5000 rpm) using the S4 encoder (360 cpr) so that'll work.

My math says : 360cpr = 1440 position units per rotation.
270 / 1440 = 0.1875 rotations or 67.5 deg.

Also checkout section 11.2 for checking on the closed-loop err and the applied throttle to sanity check your closed-loop.