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Hello everyone.

I'm quite new to the topic of Mesa cards and LinuxCNC. For the past few days, I've been trying to get my Mesa 7i95T up and running. Some things are working well, I’ve loaded the firmware and configuration, and now I can communicate with my card. Encoders can also be observed on the LinuxCNC interface. Now I wanted to try running my motor for the first time, but unfortunately, I’ve been unsuccessful for a few days. When I reference all my axes and click Jog, I get the error message:
Motor 0 position error
emc/task/taskintf.cc 976: Error on joint 0, command number 108


.hal
# kinematics
loadrt [KINS](KINEMATICS)
# motion controller
loadrt [EMCMOT](EMCMOT) servo_period_nsec=[EMCMOT](SERVO_PERIOD) num_joints=[KINS](JOINTS) num_dio=8
# hostmot2 driver
loadrt hostmot2
loadrt hm2_eth board_ip=192.168.1.121 config="num_encoders=6 num_stepgens=6 sserial_port_0=00000000"
#Stepgen
loadrt stepgen step_type=0,0,0
setp hm2_7i95.0.stepgen.00.enable TRUE
# THREADS
addf [MESA](CARD0).read servo-thread
addf [MESA](CARD0).write servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
# Encoder X
setp hm2_7i95.0.encoder.00.filter 1
setp hm2_7i95.0.encoder.01.filter 1
setp hm2_7i95.0.encoder.02.filter 1
# Encoder 0 -> Joint 0 (X)
net x-pos-fb hm2_7i95.0.encoder.00.position => joint.0.motor-pos-fb
#E-Stop
net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
# DPLL
setp hm2_7i95.0.dpll.01.timer-us 100
# joint-0 enable chain
net joint-0-index-enable <=> joint.0.index-enable
#net joint-0-index-enable <=> [MESA](CARD0).encoder.00.index-enable
net joint-0-index-enable <=> [MESA](CARD0).stepgen.00.index-enable

# Joint 0 Step Generator Settings
setp [MESA](CARD0).stepgen.00.dirsetup [JOINT_0](DIRSETUP)
setp [MESA](CARD0).stepgen.00.dirhold [JOINT_0](DIRHOLD)
setp [MESA](CARD0).stepgen.00.steplen [JOINT_0](STEPLEN)
setp [MESA](CARD0).stepgen.00.stepspace [JOINT_0](STEPSPACE)
setp [MESA](CARD0).stepgen.00.position-scale [JOINT_0](SCALE)
setp [MESA](CARD0).stepgen.00.maxvel [JOINT_0](STEPGEN_MAX_VEL)
setp [MESA](CARD0).stepgen.00.maxaccel [JOINT_0](STEPGEN_MAX_ACC)
setp [MESA](CARD0).stepgen.00.step_type 0
setp [MESA](CARD0).stepgen.00.control-type 0
setp [MESA](CARD0).stepgen.00.direction.invert_output true
# position command and feedback
net joint-0-pos-cmd <= joint.0.motor-pos-cmd
net joint-0-pos-cmd <= [MESA](CARD0).stepgen.00.position-cmd
net joint-0-pos-fb <= [MESA](CARD0).stepgen.00.position-fb
#net joint-0-pos-fb <= [MESA](CARD0).encoder.00.position
net joint.0.output => [MESA](CARD0).stepgen.00.velocity-cmd
net joint.0.output <= joint.0.vel-cmd

.ini
[EMC]
MACHINE = Mesa 7i95T XYZ
DEBUG = 0
VERSION = 1.1
[HAL]
HALFILE = /home/kacper/linuxcnc/configs/Mesa_Mini/01_main.hal
[HMOT]
CARD0=hm2_eth
[HOSTMOT2]
ETH0=192.168.1.121
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000
[MESA]
VERSION = 2.0.6
FIRMWARE = 7i95t_sdid.bin
CARD0 = hm2_7i95.0
[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[EMCIO]
EMCIO = iov2
CYCLE_TIME = 0.1
TOOL_TABLE = tool.tbl
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[KINS]
KINEMATICS = trivkins coordinates=XYZ
JOINTS = 1
[TRAJ]
AXES = 1
COORDINATES = X
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 200

[AXIS_X]
TYPE = LINEAR
MAX_VELOCITY = 50
MAX_ACCELERATION = 100
MIN_LIMIT = -200
MAX_LIMIT = 200
[JOINT_0]
TYPE = LINEAR
HOME = 0
FERROR = 5
MIN_FERROR = 0.5
MAX_VELOCITY = 100
MAX_ACCELERATION = 200
STEPGEN_MAX_VEL = 60
STEPGEN_MAX_ACC = 120
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
DEADBAND = 0
BIAS = 0
MAX_OUTPUT = 10
MIN_LIMIT = -200
MAX_LIMIT = 200
STEPLEN = 1000     
STEPSPACE = 1000   
DIRSETUP = 1000    
DIRHOLD = 1000     
SCALE = 640  
start

 From a hardware perspective, everything seems to be correctly connected. Below, I’m attaching my .ini, .hal, and stepgen pins. Do you maybe have an idea where the issue could be?

Right now, my main goal is just to get the motor running. Thanks in advance for your tips and support.

I noticed when looking at encoderS0.position I'm getting no valves. Also no valves when looking at spindle.0.revs in halshow. Could this be causing the issue ? EncoderS0.phase-Z is getting the signal from one of the remora input pins(my encoder index) which both are blinking in halshow when triggered. Should I be seeing the spindle.0.revs displaying a valve in halshow?

I was recently wondering if there's a company or someone who builds 3 or 4 axis mill control boxes pre-configured with LinuxCNC. Most hobby and semi-professional machines rely on a very similar configuration with one, maybe 2 steppers per axis and it would be awesome if a properly built control box with Linux CNC was available pre-configured and off the shelf. Is anyone aware of a product like this? I know that CNC drive sells their control boxes with UCCNC and stuff like VFD, fuses, relays and stepper drivers preinstalled.
Ever since Ethercat was integrated into LinuxCNC, I want to make a truly badass solution with Raspberry Pi, hardware control panel (there's a Shenzen company producign Ethercat panels with feed/speed knobs and macro buttons!) and Leadshine CS3E closed loop stepper drivers and Delta MS300 VFD. A complete Linux CNC solution like this will cost around 2500 USD which is the price for just the Centroid Hicory mainboard + software that offers similar capabilities.
If there's nothing like this on the market and enough people are interested, I could partner with my friend in China who could help me get this stuff assembled there.

That dkms error is an error in the debian distribution, they included a raspberry package. Just delete it.Well I thought the secure boot would be an explanation but now I don't know.
Happy you can use it, anyway.