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DRV10866: transition position from open loop to closed loop

Part Number: DRV10866

Hi Team,

I have a question about DRV10866 transition position from open loop to closed loop.

DRV10866 monitors BEMF zero-crossing and Once motor reaches to sufficient speed to allow four consecutive successful back-emf zero-crossing, commutation logic switches to closed-loop operation mode.
at this commutation logic switch point, Does DRV10866 do fixed state point transition from open loop to closed loop?
e.g. DRV10866 observes four consecutive successful back-emf zero-crossing and then try to switch to closed-loop operation mode.
at this time, Does DRV10866 change the mode at next state 1 timing or no care about where DRV10866 state are and try to switch the mode at next state after four consecutive successful back-emf zero-crossing is observed?

Regards,
Kai