W5100S-EVB-PICO stepgenerator and encoder driver

PCW wrote:

Velocity estimation is unrelated to G33.1 as G33.1 only looks at position.
 

It is not true.
Tool moves while spindle stops, even if position is reached.

Sorry , I guess you are right, G33.1 also looks at the spindle speed 
But this works better with good velocity estimation, Though as I mentioned
you cannot use position interpolation except for constant speed applications
like threading on a lathe.

This is wrong because the TP does use the velocity value:

It is precisely true, LinuxCNCs TP only looks at the encoders position
in G33.1 moves. There is no other information path.

Looking a bit more into this, It does not look like the encoder velocity
( spindle.spindle_num].spindleSpeedIn ) is used for position mode synchronized
moves (G33 G76 etc) but only velocity mode synchronized moves (G95).
At least with a quick look at  tp.c