sorry, got a customer call and forgot to attach. will try to remember and do after Jag show......should be easy to diagnose this.... see screen shot of how it should be set up. did you pick "remote enc input? What screenshot? I see no attachments.
Is motor holding position or just free wheeling? Not since I re-did the wires. But first try with only two wires connected the axis was 'creeping' in one direction with no control.
if drifting, that guarantees you were NOT in mode 4 only velocity mode.