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I followed your advice. 
 
 
and enable 
 
Create new esi, connect pdo 

Create a new config and find the pin command inside Hal.
 
I get response in encfrequenry when I spin the motor
And there is response in encpos but not perfect. When I don't set scale, the encpos number will change up and down but not much.
When I set scale, the encpos value will become decimal as shown in the picture.

What should I do next?