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I had a joint following error as well but, it was because my default jog speed was set too high for my set up. Not sure if this is happening to you but, thought I would mention it.

I posted something I thought might be helpful since it seemed to fix my problem but, then it started happening again.  My SPI interface keeps getting reset as well and only when my spindle gets turned on.  I already created a shielded cable between the SPI connections. I thought messing with the base servo speed helped in the ini file at one point but, I just tried again and got the same microcontroller reset.  After that I have to reset the microcontroller before I get a good status signal for the SPI connection and I can toggle machine power once again and communications work as well.  I guess it could be interference on the SPI interface still but, I'm not sure how that is happening. EDIT:  I guess after creating a shielded SPI cable it did work for longer before getting an SPI reset.  I still had issues and I just put a piece of tin foil over no directly onto the raspberry pi4 GPIO pins and it looks like all of my errors are gone so maybe some EMI was getting into the raspberry pi pins and resetting the controller somehow?  I'm still testing to see if my problem is gone for good but, fingers crossed.

I'm happy to say, I was just being dumb and -5  was lowest number in my head except it was negative so it was obviously the highest number.  I also spent a bit of time playing with spreadsheets and the raw RTL file and it was easy make a mistake shuffling data.

So, I wrote a python script to handle the process. (I haven't tested it with an axis going in the positive direction, it should work.) 
  Renishaw_Laser10_with_LinuxCNC

I really hope it helps someone someday.  I've attached my results before and after.