7i95 Encoder counter error

The guy didn't say what the servo motors were. Because if they have an absolute encoder it's very likely to have my problems

Thank you very much for your suggestion. I plan to tune the servo driver in open loop first to solve the problem of delay or error. After solving these problems, I will try to tune the PID in closed loop.

I only have 1 hour at most to play with these things every day. Why are there only 24 hours in a day? It’s not enough time!