Pairing up Mesa 7i76e with VFD Delta C2000

I have finally wired up the encoder to the mesa board, and in the hal scope I can see inputs from encoder-a, encoder-b and index (hope i remember their name correctly).
Now that I have an input of how fast the spindle is actually turning, what settings do I need to do in order to have a closed loop system.
Right now, the speed that I set via M3/M4 S1000 does not match the actual speed of the drive.
Below 3k rpm, if the actual speed is lower than the commanded speed, and above 3k the actual speed is higher than the commanded speed.
Also, I would like to be able to do rigid taping, now that I have an encoder feedback.

Thanks!

It seems to me that I have a PID component added, please see the hal file below.
What else I'm I missing? Since I have an ABZ encoder feedback, I would like to have rigid tapping and spindle orientation.

Also in the ini file i have:
#********************
# Spindle
#********************
[SPINDLE_9]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 10000
ENCODER_SCALE = 4000.0

The PID component is there but its has been bypassed in the hal file
that is the hardware spindle output pin is connected to motions spindle speed command rather than the PID output

In addition, the encoder velocity feedback path (with scaling if you want everything to be scaled in RPS) is missing

What version of pncconf are you using? I was pretty sure the current version does better than this for setting up spindle control

I have not made any settings related to the spindle from the pncconf UI because I could not find anything related to the spindle there. I am using 2.7.14 version of emc2
Also I was thinking that gmoccapy would be more handy for me so I tried to create a new configuration using gmoccapy as a screen, but I can;t find gmocappy.
Please advice!

With the help of youtube user talla83, I have managed to do the hal settings to enable rigid tapping and now its working.
But I still have the issue with the commanded speed vs actual speed.
I have measured the VFD output and its 10.64V not 10V
I have set the:
spinout−minlim 0
spinout−maxlim 9000
spinout−scalemax 9000

Do I have to step down the VFD voltage from 10.64v to 10.00 in order to work correctly? When I have tested with a lab power supply, the speeds are matching the input voltage very precisely.