Error: Expected Doctrine\ORM\Query\Lexer::T_WITH, got 'ON'

[Syntax Error] line 0, col 203: Error: Expected Doctrine\ORM\Query\Lexer::T_WITH, got 'ON' 500 Internal Server Error - QueryException 1 linked Exception: QueryException »

I think you should replace your keyword 'ON' with a 'WITH' .

extract from doc :

Joins between arbitrary entities are now possible in DQL by using the syntax FROM Foo f JOIN Bar b WITH f.id = b.id.