Do you have the encoder PPR correct in the driver setup?
Looking at the spec it could need 200, 400, 800 or 1600 as the number.
(Because it isn't clear if they mean pulses or quadrature counts per rev)
I was under the impression that closed-loop steppers needed quite a high PPR, so they could tell which step phase they were on. Are you sure that the motors you have are compatible with the drivers?