Here the lines in hal for spindle, hoping this can be sorted out to have *full speed* instead of low rpm output.
# gearbox signals
# gearbox Hi/Lo
net high-gear-signal => GB-2speed.0.gear-high <= hm2_7i76e.0.7i76.0.0.input-14
# Motor High
net motor-high-signal <= GB-2speed.0.motor-high
net motor-high-signal => hm2_7i76e.0.7i76.0.0.output-10
# gearbox A - B - C - D - E
net input-a-signal => GB-2speed.0.gear-A <= hm2_7i76e.0.7i76.0.0.input-09
net input-b-signal => GB-2speed.0.gear-B <= hm2_7i76e.0.7i76.0.0.input-10
net input-c-signal => GB-2speed.0.gear-C <= hm2_7i76e.0.7i76.0.0.input-11
net input-d-signal => GB-2speed.0.gear-D <= hm2_7i76e.0.7i76.0.0.input-12
net input-e-signal => GB-2speed.0.gear-E <= hm2_7i76e.0.7i76.0.0.input-13
net m1 GB-2speed.0.message-01 => gear1.trigger
net m2 GB-2speed.0.message-02 => gear2.trigger
net m3 GB-2speed.0.message-03 => gear3.trigger
net m4 GB-2speed.0.message-04 => gear4.trigger
net m5 GB-2speed.0.message-05 => gear5.trigger
net m6 GB-2speed.0.message-06 => gear6.trigger
net m7 GB-2speed.0.message-07 => gear7.trigger
net m8 GB-2speed.0.message-08 => gear8.trigger
net m9 GB-2speed.0.message-09 => gear9.trigger
net m10 GB-2speed.0.message-10 => gear10.trigger
net m11 GB-2speed.0.message-11 => gear11.trigger
net m12 GB-2speed.0.message-12 => gear12.trigger
net m13 GB-2speed.0.message-13 => gear13.trigger
#*******************
# SPINDLE S
#*******************
setp pid.s.Pgain [SPINDLE_9]P
setp pid.s.Igain [SPINDLE_9]I
setp pid.s.Dgain [SPINDLE_9]D
setp pid.s.bias [SPINDLE_9]BIAS
setp pid.s.FF0 [SPINDLE_9]FF0
setp pid.s.FF1 [SPINDLE_9]FF1
setp pid.s.FF2 [SPINDLE_9]FF2
setp pid.s.deadband [SPINDLE_9]DEADBAND
setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
setp pid.s.error-previous-target true
net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output
# ---Encoder feedback signals/setup---
setp hm2_7i76e.0.encoder.04.counter-mode 0
setp hm2_7i76e.0.encoder.04.filter 1
setp hm2_7i76e.0.encoder.04.index-invert 0
setp hm2_7i76e.0.encoder.04.index-mask 0
setp hm2_7i76e.0.encoder.04.index-mask-invert 0
# setp hm2_7i76e.0.encoder.00.scale [SPINDLE_9]ENCODER_SCALE
net spindle-revs <= hm2_7i76e.0.encoder.04.position
net spindle-vel-fb-rps <= hm2_7i76e.0.encoder.04.velocity
net spindle-index-enable <=> hm2_7i76e.0.encoder.04.index-enable
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm <= motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-enable <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-revs => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel-fb-rps => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable
# ---Setup spindle at speed signals---
# sets spindle-at-speed true
# setp hm2_7i76e.0.7i76.0.0.spinout-scalemax 2400
# setp hm2_7i76e.0.7i76.0.0.spinout-maxlim 2500
# net spindle-enable hm2_7i76e.0.7i76.0.0.spinena
# net spindle-vel-cmd-rpm-abs hm2_7i76e.0.7i76.0.0.spinout
# net spindle-ccw hm2_7i76e.0.7i76.0.0.spindir
# ---Setup spindle at speed signals via GB-2speed.comp---
sets spindle-at-speed true
setp hm2_7i76e.0.7i76.0.0.spinout-scalemax 2400
setp hm2_7i76e.0.7i76.0.0.spinout-maxlim 2500
net spindle-enable => GB-2speed.0.spindle-enable-in
net spinenable => GB-2speed.0.spindle-enable-out => hm2_7i76e.0.7i76.0.0.spinena
net spindle-vel-cmd-rpm-abs => GB-2speed.0.spindle-speed-in
net spindlespeed <= GB-2speed.0.motor-speed-out => hm2_7i76e.0.7i76.0.0.spinout
net spindle-ccw hm2_7i76e.0.7i76.0.0.spindir
