C axis

Hi everyone,I’m adding a C axis to my CNC lathe and running into an issue I can’t figure out.Previously, the axis would rotate (basic motion was working), but I hadn’t properly tuned the scale or step settings yet. Now, after adjusting parameters, I’m getting a consistent problem:As soon as I enable the machine and try to jog the C axis (C+ or C-), LinuxCNC immediately throws a “Joint 2 error”and disables the machine.Details:

• AC servo drive in step/dir mode
• Encoder is connected only to the drive (not to LinuxCNC)
• C axis is configured as ANGULAR
• SCALE = 27.78 (assuming 10,000 pulses per revolution)
• MAX_VELOCITY ≈ 60–72 deg/sec
• MAX_ACCELERATION ≈ 200–230 deg/sec²

The axis previously rotated before I changed scaling parameters, so I don’t believe it’s a wiring issue.I’m trying to understand:

• Why LinuxCNC is throwing a Joint 2 error immediately
• Whether this is a scaling issue, limits issue, or configuration issue
• What I should check next (HAL wiring, limits, FERROR, kinematics, etc.)

Any guidance from someone experienced with adding a C axis to a lathe would be greatly appreciated.
Also I did use ChatGPT to turn my ape thoughts into human ones, anyways any help would be appreciated thanks!!!

A way to debug this is to plot (with halscope) the joint 2 commanded and feedback positions
(setting the following error limits higher may help debugging as well)
 

My C enable was commented out by accident