Gymbal motor too much power

Hello I’m trying to drive a maxon motor EC 4-pole 309757 using its hall sensors for position feedback. No significant mechanical load is connected to the motor so the current control is not performing well (when the current setpoint is 0A the motor keeps turning), I suspect this is due to the low currents. So I’m now trying to use MOTOR_TYPE_GIMBAL as it controls directely the voltage, but when I set the controller to current control an I set 20V as a set point the current on the DC power supply is more than 2A at 28V, which is very high compared to the no-load current of the datasheet. The motor gets quite hot in a few seconds.
Is this expected when operating in gybal mode? How do you suggest to operate with no load?

Thank you