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It's possible for my specific servo but there is not point to do this as my servo is not piloted by position but with analog (no ethercat drive)

Updated schematics 

Update of this project.
Regarding water on the table and difficulty to properly detect contact.
Yes, been there, done that. 
It seems to be caused by too low R1 resistance. Which means too low current at short-circuit.
Stray currents through water are in the same order of magnitude as the short-circuit current
and influences the voltage measurements. 
Too high R1 (low short-circuit current) and water on the table causes two things:
1. The measured voltage will only go to single-digit voltages, like 8V instead of 24V
2. The measured short-circuit voltage drop is only a few Volts. The voltage stays at some 8-3 = 5 V, where it should be 0V.
When looking at the voltage, well working means sharply up to some 23V, then sharp drop to 0V.
Not well working: Damped rise to some 10-ish V, damped drop of a few Volts at short-circuit.

Using R1 = 100 kOhm, short-circuit current = 0.24 mA. This is too low.
Using R1 = 2k7 kOhm, I = 8.9 mA works much better.
 

I have a spindle motor that can be controlled using Modbus with a list of addresses sent as shown in the image.

I want to control it using USB/RS485, but I don't fully understand the Linux CNC documentation. Furthermore, there are not enough project examples and the configuration settings are not intuitive. So, I'd like to ask a question here.

I've included all the configuration programs in my GitHub link. I plan to use mb2hal for general function code, and Python for custom function code (0x44).

The program on GitHub has the same issue as the one I've included. 

github.com/yuuahmad-aii/axisXYZ-linuxcnc  github link

D'oh

really got to stop trying to use forum on my phone.

I have the same situation as you. If I solve it, I will reply below

I simply followed the installer's instructions. I only configured the selection of the 3 axes to their ports. I don't remember configuring an EStop.

It won't let me exit the emergency stop on the interface.

Is there a tutorial on how to configure it correctly?