This is a little explanation on why you keep getting the errors, how to avoid getting the errors, and what causes the errors.
Alarm Message:

Spindle, Axis Error

X Axis, Axis Error

Z Axis, Axis Error

Emergency stop active.

Drive Info:

X                          7829 eSM module: Input states channel A and channel B are not id.

Z                           7829 eSM module: Input states channel A and channel B are not id.

Spindle              7829 eSM module: Input states channel A and channel B are not id.