help for angular axis config

hi,
I try to config my a axis, but i dont know how do scale it in velocity mode
need help for this
motor ac 3ph
inverter pin1=enable
pin2=frequency
pin3=direction
encoder 20 counts


Generated by stepconf at Fri Sep 25 09:14:15 2015
# If you make changes to this file, they will be
# overwritten when you run stepconf again

[EMC]
MACHINE = my-mill
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/ee/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 51600
SERVO_PERIOD = 1000000

[HAL]
HALFILE = my-mill.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal

[TRAJ]
AXES = 4
COORDINATES = X Y Z A
MAX_ANGULAR_VELOCITY = 1352.00
DEFAULT_ANGULAR_VELOCITY = 60.00
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 10.00
MAX_LINEAR_VELOCITY = 100.00

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[AXIS_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 95.0015197638
MAX_ACCELERATION = 1000.0
STEPGEN_MAXACCEL = 1250
SCALE = 96.89767
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -0.001
MAX_LIMIT = 200.0
HOME_OFFSET = 0.0

[AXIS_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 37.5
SCALE = 20
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -0.001
MAX_LIMIT = 8.0
HOME_OFFSET = 0.0

[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 37.5
SCALE = 20
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -4.0
MAX_LIMIT = 0.001
HOME_OFFSET = 0.0


[AXIS_3]

TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 65
STEPGEN_MAXACCEL = 20
MAX_ACCELERATION = 20
PID_MAX_VEL = 66
BACKLASH = 0.000
SCALE = 11.1111
ENCODER_SCALE = 80
OUTPUT_SCALE = 1.000
MIN_LIMIT = -99999999
MAX_LIMIT = 99999999
FERROR = 1
MIN_FERROR = .5
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
DEADBAND = 0.046
P = 150
I = 100
D = 0.1
BIAS = 0
FF0 = 0
FF1 = 1
FF2 = 0



# Generated by stepconf at Fri Sep 25 09:14:15 2015
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hal_parport cfg="0x378 out "
loadrt stepgen step_type=0,0,0,0 ctrl_type=p,p,p,v


addf parport.0.read base-thread
addf stepgen.make-pulses base-thread

addf parport.0.write base-thread

addf stepgen.capture-position servo-thread

addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
net spindle-cmd <= motion.spindle-speed-out
net spindle-brake <= motion.spindle-brake






setp parport.0.pin-01-out-invert 1
net spindle-brake => parport.0.pin-01-out
net xdir => parport.0.pin-02-out
net xstep => parport.0.pin-03-out
net adir => parport.0.pin-14-out
setp parport.0.pin-16-out-invert 1
net astep => parport.0.pin-16-out
setp parport.0.pin-17-out-invert 1
net xenable => parport.0.pin-17-out





setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 1
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable axis.0.amp-enable-out => stepgen.0.enable

setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 1
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable axis.1.amp-enable-out => stepgen.1.enable

setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 1
setp stepgen.2.dirhold 35000
setp stepgen.2.dirsetup 35000
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable axis.2.amp-enable-out => stepgen.2.enable

###### pid

loadrt pid num_chan=1

addf pid.0.do-pid-calcs servo-thread
setp pid.0.Pgain [AXIS_3]P
setp pid.0.Igain [AXIS_3]I
setp pid.0.Dgain [AXIS_3]D
setp pid.0.bias [AXIS_3]BIAS
setp pid.0.FF0 [AXIS_3]FF0
setp pid.0.FF1 [AXIS_3]FF1
setp pid.0.FF2 [AXIS_3]FF2
setp pid.0.deadband [AXIS_3]DEADBAND
setp pid.0.maxoutput [AXIS_3]PID_MAX_VEL

####ddt
loadrt ddt count=4
####encoder
loadrt encoder num_chan=1
addf encoder.update-counters base-thread
addf encoder.capture-position servo-thread
setp encoder.0.counter-mode 1
setp encoder.0.position-scale [AXIS_3]ENCODER_SCALE

net enc0A encoder.0.phase-A <= parport.0.pin-10-in
net enc0B encoder.0.phase-B <= parport.0.pin-15-in

setp stepgen.3.position-scale [AXIS_3]SCALE
setp stepgen.3.maxvel [AXIS_3]MAX_VELOCITY
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 1
setp stepgen.3.dirhold 35000
setp stepgen.3.dirsetup 35000
setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL

net Apos-fb => pid.0.feedback
net Apos-fb <= encoder.0.position
net Apos-fb => axis.3.motor-pos-fb

net Aoutput => stepgen.3.velocity-cmd
net Aoutput <= pid.0.output

net Apos-cmd <= axis.3.motor-pos-cmd
net Apos-cmd => pid.0.command

net Aenable => stepgen.3.enable
net Aenable <= axis.3.amp-enable-out
net Aenable => pid.0.enable

net astep <= stepgen.3.step
net adir <= stepgen.3.dir

net Aoutput ddt.0.in
net Apos-fb ddt.1.in

net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in

loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

thanks for reply

my machine and wind power transformer

i dont need very precision
+- half turn im very happy

ok

i need turn counts

but i dont know how i do

thanks

o que eu preciso e contar as voltas que meu spindle ou o eixo a faz
Eu não preciso posiciona-lo tão exatamente
pois o que eu vou fazer é somente uma maquina para enrolar transformadores
mas o eixo ou o spindle e com um motor de corrente alternada e um inversor
mas o inversor não aceita escala pwm somente frequência