LinuxCNC - Mesa 7i77-6i25 Setup Problem

Hello i'm new on this forum and to the hole mesa concept
My problem is the following :
I set up a mesa 6i25 with a 7i77 with the desire to control a servo that i had lying around
afterward to impement it on a CNC
The problem that i`m facing is that LinuxCNC can`t control it corectly and i know that it is
set up corectly because the encoder is reading corectly ( when i manulay move the servo it registers the
movement)
Every time that i enable the machine form LinuxCNC the servo just jumps left to right like crazy and i am
forced to stop the driver power .
LinuxCNC tell me :
- join 0 error
-homming error
I reallt hit a dead end i cant find any answers on the internet and i woud be really greatfull if anybody can help me
Thank you in andvance
I`m posting photos of all the concetions i made if usefull

This is actually expected behavior if you have not:

1. Gotten the feedback polarity correct
2. Tuned the system

Here is a quick tutorial on tuning analog velocity mode servos

gnipsel.com/linuxcnc/tuning/servo.html

Thank you for the idea
You are corect the problem is the calibration
My problem now is how do i determin the
P
I
D
Setings