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Sorry for late reply. I've have made a new rebuild of my wiring, and i would appreciate if you guys would check if everything looks correct. I will make a video of the problem if it still there, if my wiring diagram looks right. 

The unit of pos-scale is increments/distance unit, like steps/mm or steps/inch.
If you motor's encoder has 500 pulses/rev, then it is 2000 increments/rev.
With a axis movement of 5 mm/motor revolution you should set pos-scale = 2000/5 and 2000/180 respectively.
400 and 11.111

It may be possible to set the increments/rev separately from the encoders value, check the drive manual if the above doesn't match.

 

Not sure what you mean by encoder_value.
You have the cia402.x.pos-scale to work with.
Instead of mathematically figuring it out, multiply the current value with 6.5/2 = 3.25 and try again.
If you find that number matches a known relation, use that.

I think the following errors follows from the pos-scale. At least get this right first.

More text here on how to calculate pos-scale
forum.linuxcnc.org/ethercat/22346-etherc...er?start=1360#338150