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maybe try ON_ABORT_COMMAND:
forum.linuxcnc.org/24-hal-components/280...de-and-e-stop#325497

After trying this idea, i faced another problem: every time I stop the program during movejoint command. The controller doesn't return default kin, I have to use M code to switch back manually, I tried to hack into the controller(the command.c file) to force it to return to default kinematic every time I hit stop or estop. tks, it worked 

I have the same machine and was wondering if you would share your info on the motor and drives. I have the 7i97t and trying to figure out where to start.
thanks

I Agree with you regarding the Optimisation of the dynamic range (headroom) of the AD converter.
will double check all the machines most of them are hyperterm 85, 105,125 and maxpro 250.
so I need to check max voltage and select the proper divide ratio

Did you first verify that stepgen feedback worked?
(scaled properly and motion in the correct directions)

That is replace:

net joint.0-pos-fb <= hm2_[MESA](BOARD).0.encoder.00.position

with:

net joint.0-pos-fb <= hm2_[MESA](BOARD).0.stepgen.00.position

Once this works, I would verify that the encoder position is also in the correct direction
and scaled properly.

Also note that for initial tuning with encoder feedback, you will need to widen the following
error limits and reduce the P term