Spindle servo step/dir Problems

i get what you mean but i dont have a step scale/ direction output in my hal.

Edit the ini file, not the hal file.

Its this (in the ini file)

OUTPUT_SCALE = 68.26667

i did invert it to:
OUTPUT_SCALE = -68.26667

and now the spindle turns correct.

The Problem with the difference between spindle-fb-rps and spindle-speed-rps still persists tho. spindle-fb-rps is negative and spindle-speed-rps is positive (in case of m3).
This lead to spindle-at-speed never beeing true.

Edit: even when i invert the encoder scale the difference btw. the fb rps and speed rps(commanded) is too big for spindle at speed to be true.

That indicates the original issue, the scaling in incorrect (on one or both)

with both you mean the step scale and encoder scale i suppose.

Yes i agree, the problem is i dont really have a way to find that out myself i believe.
The parameter that shows the factory default says 1024 motor resolution per revolution.