ERROR joint 1 following error and command (EMC_TASK_PLAN_RUN) cannot be executed

I need help with this imagen, i use ubuntu 10.04, and i have 2 erros 

Problem with "Joint 0 Tracking Error" and Real-Time Delay: Resolver-Based System

System:

LinuxCNC with PID control

Resolver-based feedback (no encoders)

3-axis machine (X, Y, Z)

The HAL/INI structure includes: Ibarmia core servo.hal, Ibarmia MotencMotion.hal, motenc.ini, etc.

Main Problem:

When attempting to move any axis (especially the X axis), I immediately receive the following critical errors:

Joint 0 Tracking Error

The axis does not move, and the error appears as soon as I attempt to move it, regardless of the velocity or acceleration settings.

Measures already taken:

Latency Test

Maximum jitter on the base thread: around 16,600 ns

Increased the BASE_PERIOD value from 50,000 to 100,000 to reduce RTAPI errors.

INI Tweaks

Reduced the MAX SPEED and MAX ACCELERATION values ​​on [TRAJ] and [AXIS_0] to very conservative values:
MAX SPEED = 5.0
MAX ACCELERATION = 300.0
FERROR = 100
MINIMUM FERROR = 10

It appears to boot, but after 10 seconds, it fails.