It looks like the issue might be related to the HAL configuration for the emergency stop loop. In LinuxCNC setups, the E-Stop signal usually needs to be properly connected between iocontrol.0.user-enable-out and iocontrol.0.emc-enable-in. If that connection is missing, the system will behave as if the emergency stop is still active and prevent the machine from enabling. Double-checking the HAL file and ensuring the E-Stop loop is correctly linked could help resolve the problem. Also make sure the EtherCAT configuration and real-time modules are loaded correctly, since incorrect parameters can trigger module errors during startup. agario