DRV8412 always in brake

Hi, hopefully this is a simple question.

We are evaluating the DRV8412 using the evaluation board (DRV8412EVM) for a haptic/robotic application. Currently setting up a torque controller to test the closed loop position gain of a single axis.

However, we can't seem to achieve a "free to spin" mode. We can drive in either direction and create a good response or if we drop the duty cycle low or to zero we are in brake mode.

Can someone quickly explain what we're doing wrong here?

Thanks

Ally