Servo and encoder setup issue

Hello
I'm loosing my mind on my setup.
Right now, I'm only focused on the X axis so don't pay attention to other axis/joint.

here is my issue:
When jogging, when i press 2 times X+ with 1mm step, the first step moves, the second I have a joint 0 following error.
In HAL show, the first issue I see is the encoder going negative when I press X+.

I tried to setup the output_scale at -1 instead of 1, still the same issue. same for input_scale and encoder_scale.
I tried to put everything negative but my counter always go the same direction.
Do you have any idea please?
If you find something else wrong with my X/joint0 setup do not hesitate. Only the BIAIS works well right now

Thanks a lot

Note that ENCODER_SCALE does nothing as it's not used in the hal file
(same with INPUT_SCALE)

Is there an alternate way to set the scale on the EL5101?

If not, feeding the encoder count through the scale component
(after the S32-->float conversion) would allow scaling/sign change.

 

thank you as always for your help.
I managed to reverse the encoder scale correctly
I must have something wrong with my closed loop signal
If I jog, on the first order; my pid.x.command is stuck and don't go back to 0. don't pay attention to the enc-count, this is before the *-1 scale