Joint and axis limit error

Hello everyone,
I am a new user of linux cnc.
I have to use a system that was working before. I start 1 week ago and I can't use any g code program. When I trie, I have an error that pop and say that the limit of the join or the axis will be exceeded, depending on the value i put in the code. The problem is that even if i don't asck the robot to move, the mesage appear, and i can not do anything. A last detail: i can moove any single joint in manual control section.
I hope I have been clear enough,
Thank you for your return.

Update: i have new information. I can go to some specific position with a midi command, but i can not come back to the initial position. Might it be a problem with the kinematic model?

This is almost always a sign that you are either loosing/missing steps, or there is some kind of mechanical slippage (loose coupler, pully, belt...)