SPINDLE USING GPIO

Hello!!
I have designed my own board for 3 axis motion control using spartan 6 FPGA. Here we have tested our board using stepper and we have successfully done with homing but while we try to run a design file we are getting errors of joint 0, joint 1, joint 2. But in servo we are getting error of joint 0, joint 1, joint 2 as I start linuxcnc. So what should be the reason behind joint 0 following error?

Can Someone please help me regarding this issue?
 

Joint 0 following error is the difference between 'joint.0.motor-pos-cmd' and ' joint.0.motor-pos-fb'.
If this exceeds the limits defined as 'FERROR' and 'MIN_FERROR' in the [JOINT_0] section a fault is triggered and you get an error message.

If you are getting joint following errors on startup I would suggest to have a look at pins 'joint.0.motor-pos-cmd' and ' joint.0.motor-pos-fb'. Possibly you are simply not connecting 'motor-pos-fb' with a value in your hal.

I think its connected properly, as I have tried this files on spartan 6 development board its working without any issue.
I have share my .ini and .hal file please check that file if any changes are required?

   

I'd suggest using the 'halscope' tool to what those two pins are doing.

Hello
I want to implement spindle using gpio like we can handle speed of spindle using 2 gpios (binary data) so can u help me in which module of mesa 7c81 i can make changes to get binary value on 2 gpio which handles the speed using GUI.
I want to give binary data such as 2'b00 so it will off my spindle, 2'b01 will start my spindle at certain speed.