42BLF02 Brushless DC Motor

Recently i bought 42BLF02 Brushless DC Motor 52W 24V Nema17 4000RPM but i am struggling to set up the velocity … and position control … i wired up accordingt to the motor datasheet … any advice?

Please give more information on what you need help with.

well i tried different value to kvp and kvi and i cannot acheive a linear motion ,…if i try to increase kvp motor start to vibrate
motor specification