7i95 Encoder counter error

When I use 3 axes to move simultaneously, such as G0 X3000 Y3000 Z3000, and reciprocate from 0-3000, the encoder counts normally
But as soon as I move only one axis, any one, the encoder counts become inaccurate

All parameter settings for the three axes are the same

Can you post your hal and ini files?

Of course, forgot to mention that the encoder count comes from the servo drive

Not quite sure what you are trying to do here:You have velocity feedback from
the encoder (with a typo that probably doesn't matter)

net jonit-1-vel-fb <=> hm2_[MESA](BOARD).0.encoder.01.velocity => pid.y.feedback-deriv

but local position feedback from the stepgen:

net joint-1-pos-fb <=> joint.1.motor-pos-fb <= hm2_[MESA](BOARD).0.stepgen.01.position-fb => pid.y.feedback

and the encoder position values are not used

If I use encoder position feedback I get a follow error
So I use stepgen feedback to view the encoder count in halshow

I would expect a following error because the PID tuning for encoder
feedback would be very different than the PID tuning for local stepgen
feedback (this is because of the significant delays between a commanded
step and the actual motion) It also depends on getting the encoder feedback
scaled properly in the the correct direction.

Also homing to index will not work with stepgen feedback unless
you use firmware that supports stepgen index. Without this
firmware, you must use encoder feedback to home to index.