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You are correct but in my case the servo isn't connected to the axis, and only spins when the +-10V are connected to the 7i77, if unplugged the servo is perfectly still.
The exact same setup for the Z axis works.
I'll check the axis configuration today, maybe I made a mistake.

I need 2.9 because I want Probe Basic, and it won't run on 2.8 for me..

My FT sensor is a multiple-axis sensor that mounts at the robot end-effector. Tool gravity compensation, external force, and new joint position command calculation are already done, so right now I need to send these commands to LinuxCNC.
Sending via the jog command does not give me a smooth move, I will try the jogwheel function by converting the position command to jog count, not sure if it works

Lately I started looking with great curiosity into LinuxCNC, because it seems to be one of the nicest and most affordable options to get EtherCAT and recently even s-curve acceleration control! In other words, as far as I know, it's the only solution on the market that offers such badass features as well as full configurability at a fraction of the price of other devices.
My current experience is with Mach 3 and UCCNC, but in both cases I was dissatisfied with motion planning where the machine would stutter a lot with complex toolpaths or with larger error allowance, it would run smoothly but it would mess with the surface finish.

My biggest hurdle right now is finding the right hardware. I saw countless solutions and configurations to get this done and I'm looking for something well proven that's not too hard to set up and doesn't look like spaghetti.
I was looking into Mesa boards, but even that got me a bit confused and I don't know what I should get. What's important for me is that the board offers screw terminals for interfacing with endstops and VFD and ideally it has its own computer - i.e. Raspberry Pi.
Could I ask someone for some recommendations?