emc and following error problems

Hi,
I'm setting up emc for the first time and I'm getting
following errors. So far I have been unable to move any of the
axis. As soon as I try to jog, it gives me the following error
and estops. I'd appreciate any help the list can offer. My
setup is as follows,

BDI 2.16 with EMC 2.18 update. I recompiled 2.18 after getting a
patch from Jon Elson for his universal stepper board. EMC starts
and runs fine. Computer is a p233 with 128M ram.

Universal stepper board from Jon with gecko 210's in full step
mode, have not put the step multipliers on yet.

Taig mill, with 20tpi screws in metric mode for emc ini.

Here's the ini file,

; Name of NML file to use, default is emc.nml
NML_FILE = emc.nml

; use mm for startup
RS274NGC_STARTUP_CODE=G21

; Debug level, 0 means no messages. See emc/src/emcnml/emcglb.h
for others
DEBUG = 0x00000003
; DEBUG = 0x00000007
; DEBUG = 0x7FFFFFFF

; Sections for display options
------------------------------------------------
[DISPLAY]

; Platform for GUI, e.g., realtime, nonrealtime
PLAT = nonrealtime

; Name of display program, e.g., xemc
; DISPLAY = xemc
DISPLAY = tkemc
; DISPLAY = yemc
; DISPLAY = keystick
; DISPLAY = emcpanel

; Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.100

; Path to help file
HELP_FILE = doc/help.txt

; Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE

; Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = ACTUAL

; Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.2

; Prefix to be used
PROGRAM_PREFIX = programs/

; Introductory graphic
INTRO_GRAPHIC = emc.gif
INTRO_TIME = 5

; Task controller section
-----------------------------------------------------
[TASK]

; Platform for task controller, e.g., realtime, nonrealtime
PLAT = nonrealtime

; Name of task controller program, e.g., bridgeporttask
;TASK = bridgeporttask
TASK = minimilltask

; Cycle time, in seconds, that task controller will sleep between
polls
CYCLE_TIME = 0.010

; Part program interpreter section
--------------------------------------------
[RS274NGC]

; File containing interpreter variables
PARAMETER_FILE = emc.var

; Motion control section
------------------------------------------------------
[EMCMOT]

; Platform for motion, e.g., realtime, nonrealtime
PLAT = realtime
; PLAT = nonrealtime

; Name of motion control program
; EMCMOT = steppermod.o
; EMCMOT = freqmod.o
; EMCMOT = stgmod.o
; EMCMOT = stg2mod.o
; EMCMOT = emcmotsim
EMCMOT = univstepmod.o

; Key for real OS shared memory, e.g., for simulated motion
SHMEM_KEY = 100

; Base address for physical shared memory, e.g., for real-time
motion.
; Note that if you change this, you may need to change OS
parameters, e.g.,
; /etc/lilo.conf
SHMEM_BASE_ADDRESS = 0x1F00000
; SHMEM_BASE_ADDRESS = 0x3F00000

; Base address of Servo To Go board
IO_BASE_ADDRESS = 0x378
; IO_BASE_ADDRESS = 0x300

; Address for parallel port used for steppers
; IO_BASE_ADDRESS = 0x378

; Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0

; Interval between tries to emcmot, in seconds
COMM_WAIT = 0.010

; Base task period, in seconds
; Don't use this if steppermod is being loaded.
; PERIOD = 0.000016

; Address for motion IO, synchronized with motion start/end
MOTION_IO_ADDRESS = 0x378

; Trajectory planner section
--------------------------------------------------
[TRAJ]

AXES = 3
; COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0
LINEAR_UNITS = 1.0
ANGULAR_UNITS = 1.0
CYCLE_TIME = 0.005
DEFAULT_VELOCITY = 5.0
MAX_VELOCITY = 20.0
DEFAULT_ACCELERATION = 2.0
MAX_ACCELERATION = 2.0
PROBE_INDEX = 0
PROBE_POLARITY = 1

; Axes sections
---------------------------------------------------------------

; First axis
[AXIS_0]

TYPE = LINEAR
UNITS = 1.0
HOME = 0.000
MAX_VELOCITY = 20.0
P = 1000.000
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 5.000
FF2 = 0.000
BACKLASH = 0.000
BIAS = 0.000
MAX_ERROR = 0.000
DEADBAND = 80.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 157.480315555 0.000000000
OUTPUT_SCALE = 1.000000000 0.000000000
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
MIN_OUTPUT = -10
MAX_OUTPUT = 10
FERROR = 1.000
MIN_FERROR = 0.250
HOMING_VEL = 0.1
HOME_OFFSET = 0.0
ENABLE_POLARITY = 1
MIN_LIMIT_SWITCH_POLARITY = 1
MAX_LIMIT_SWITCH_POLARITY = 1
HOME_SWITCH_POLARITY = 1
HOMING_POLARITY = 1
JOGGING_POLARITY = 1
FAULT_POLARITY = 1
; Parameters for Inland Motor BMHS-0701 X 20
TORQUE_UNITS = OZ_IN
ARMATURE_RESISTANCE = 1.10
ARMATURE_INDUCTANCE = 0.0120
BACK_EMF_CONSTANT = 0.0254
ROTOR_INERTIA = 0.0104
DAMPING_FRICTION_COEFFICIENT = 0.083
SHAFT_OFFSET = 0
REVS_PER_UNIT = 10
; Parameters for generic amplifier
AMPLIFIER_GAIN = 1
MAX_OUTPUT_CURRENT = 10
LOAD_RESISTANCE = 1
; parameters for generic encoder
COUNTS_PER_REV = 4096

; Second axis
[AXIS_1]

TYPE = LINEAR
UNITS = 1.0
HOME = 0.000
MAX_VELOCITY = 20.0
P = 1000.000
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 5.000
FF2 = 0.000
BACKLASH = 0.000
BIAS = 0.000
MAX_ERROR = 0.000
DEADBAND = 80.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 157.480315555 0.000000000
OUTPUT_SCALE = 1.000000000 0.000000000
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
MIN_OUTPUT = -10
MAX_OUTPUT = 10
FERROR = 1.0
MIN_FERROR = 0.25
HOMING_VEL = 0.1
HOME_OFFSET = 0.0
ENABLE_POLARITY = 1
MIN_LIMIT_SWITCH_POLARITY = 1
MAX_LIMIT_SWITCH_POLARITY = 1
HOME_SWITCH_POLARITY = 1
HOMING_POLARITY = 1
JOGGING_POLARITY = 1
FAULT_POLARITY = 1
; Parameters for Inland Motor BMHS-0701 X 20
TORQUE_UNITS = OZ_IN
ARMATURE_RESISTANCE = 1.10
ARMATURE_INDUCTANCE = 0.0120
BACK_EMF_CONSTANT = 0.0254
ROTOR_INERTIA = 0.0104
DAMPING_FRICTION_COEFFICIENT = 0.083
SHAFT_OFFSET = 0
REVS_PER_UNIT = 10
; Parameters for generic amplifier
AMPLIFIER_GAIN = 1
MAX_OUTPUT_CURRENT = 10
LOAD_RESISTANCE = 1
; parameters for generic encoder
COUNTS_PER_REV = 4096

; Third axis
[AXIS_2]

TYPE = LINEAR
UNITS = 1.0
HOME = 0.000
MAX_VELOCITY = 20.0
P = 1000.000
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 5.000
FF2 = 0.000
BACKLASH = 0.000
BIAS = 0.000
MAX_ERROR = 0.000
DEADBAND = 80.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 157.480315555 0.000000000
OUTPUT_SCALE = 1.000000000 0.000000000
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
MIN_OUTPUT = -10
MAX_OUTPUT = 10
FERROR = 1.0
MIN_FERROR = 0.25
HOMING_VEL = 0.1
HOME_OFFSET = 0.0
ENABLE_POLARITY = 1
MIN_LIMIT_SWITCH_POLARITY = 1
MAX_LIMIT_SWITCH_POLARITY = 1
HOME_SWITCH_POLARITY = 1
HOMING_POLARITY = 1
JOGGING_POLARITY = 1
FAULT_POLARITY = 1
; Parameters for Inland Motor BMHS-0701 X 20
TORQUE_UNITS = OZ_IN
ARMATURE_RESISTANCE = 1.10
ARMATURE_INDUCTANCE = 0.0120
BACK_EMF_CONSTANT = 0.0254
ROTOR_INERTIA = 0.0104
DAMPING_FRICTION_COEFFICIENT = 0.083
SHAFT_OFFSET = 0
REVS_PER_UNIT = 10
; Parameters for generic amplifier
AMPLIFIER_GAIN = 1
MAX_OUTPUT_CURRENT = 10
LOAD_RESISTANCE = 1
; parameters for generic encoder
COUNTS_PER_REV = 4096

; section for main IO controller parameters
-----------------------------------
[EMCIO]

; Platform for IO controller, e.g., realtime, nonrealtime
PLAT = nonrealtime

; Name of IO controller program, e.g., bridgeportio
;EMCIO = bridgeportio
; EMCIO = minimillio
; EMCIO = simio
EMCIO = ppmcio

; cycle time, in seconds
CYCLE_TIME = 0.100

; tool table file
TOOL_TABLE = emc.tbl

; address for parallel port used for auxiliary IO (not used by
univ. step)
IO_BASE_ADDRESS = 0x378

; wait times in seconds for spindle brake, release
SPINDLE_OFF_WAIT = 1.0
SPINDLE_ON_WAIT = 0.5

; external digital inputs, outputs are always 0 for 0V, 1 for
5/24V

; digital in bits

ESTOP_SENSE_INDEX = 14
LUBE_SENSE_INDEX = 13

; digital in polarity, 0 is inverted, 1 is normal
; controller compares with polarity, equal means on, not equal
means off

ESTOP_SENSE_POLARITY = 0
LUBE_SENSE_POLARITY = 0

; digital out bits

SPINDLE_FORWARD_INDEX = 0
SPINDLE_REVERSE_INDEX = 1
MIST_COOLANT_INDEX = 3
FLOOD_COOLANT_INDEX = 4
SPINDLE_DECREASE_INDEX = 5
SPINDLE_INCREASE_INDEX = 6
ESTOP_WRITE_INDEX = 7
SPINDLE_BRAKE_INDEX = 2

; analog out bits

SPINDLE_ON_INDEX = 3

; digital out polarity, 0 is inverted, 1 is normal
; controller writes the polarity to turn on, opposite of polarity
to turn off

SPINDLE_FORWARD_POLARITY = 1
SPINDLE_REVERSE_POLARITY = 1
MIST_COOLANT_POLARITY = 1
FLOOD_COOLANT_POLARITY = 1
SPINDLE_DECREASE_POLARITY = 1
SPINDLE_INCREASE_POLARITY = 1
ESTOP_WRITE_POLARITY = 0
SPINDLE_BRAKE_POLARITY = 1
SPINDLE_ENABLE_POLARITY = 0

; section for external NML server parameters
----------------------------------
[EMCSERVER]

; Name of NML server, e.g., emcsvr; if not found then none will
run
; EMCSERVER = emcsvr

; section for emc stripchart parameters
----------------------------------
[EMCSTRIP]

; Name of strip chart display program e.g. emcstripchart; if not
found then none will run
; EMCSTRIP = emcstripchart

; OPTIONS for emcstripchart ussually -f something.conf; This file
says which
; variables to plot, colors etc. -u changes the update rate.
OPTIONS = -f emcstrip.conf.ferror