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Dear friends, hello everyone. Regarding this issue, due to the busy work, it has been a week since then. Currently, we have basically understood the problem. I extracted two different Ethercat master station data from Wireshark and conducted a comparative analysis. From it, we can see that the entries of the PDO have a slight difference in the arrangement order. The main difference is reflected in the two special status words, namely " {0xf200, 0x01, 16}," and  {0xf100, 0x01, 16}. We are currently in contact with the manufacturer to confirm these two PDO entries. These two entries are used for a special design. Additionally, there is a problem with the parsing data of the data sent from IGH to PDO by the IO module!

After a long break I'm back to the topic. I did some research, tried to swap the wires between the mesa and the servopack, but no changes. It's not a problem with the analog voltage as in the topic because if I set P=0 I can normally drive at high speed without a closed loop.
What should the encoder accuracy be set to?
Maybe I have set the scale too large or too small?
But I tried changing it to less and it didn't have any effect.
I'm still wondering if the analog wire can go parallel to the encoder wire, maybe it creates some interference.

Hello do you mean that instruction:
Simple Remote Pendant using a $10-20 joypad with halui and hal_input
???
The .zip downloadlink sdly doesent work anymore.

I use analog jog on all three of my machines with 2.9.4. Quite a while ago, I updated the wiki for remote pendant including .hal files you can include.