El5101 Config

loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec

loadrt ddt names=spindle-v
loadrt mult2 names=rpm-calc
loadrt near names=spindle-at-speed
loadrt lowpass names=spindle-filter

addf rpm-calc servo-thread
addf spindle-at-speed servo-thread
addf spindle-v servo-thread
addf spindle-filter servo-thread

addf lcec.read-all servo-thread
addf lcec.write-all servo-thread

setp lcec.0.El5101.enc-pos-scale 2000

net spindle-pos-fb lcec.0.El5101.enc-pos => spindle-v.in => spindle.0.revs

setp rpm-calc.in1 60
net spindle-rps spindle-v.out => rpm-calc.in0
setp spindle-filter.gain 0.1

net spindle-rpm-raw rpm-calc.out => spindle-filter.in
net spindle-rpm-fb spindle-filter.out => spindle.0.speed-in

setp spindle-at-speed.scale 1.1
setp spindle-at-speed.difference 10

net spindle-vel-cmd spindle.0.speed-out => spindle-at-speed.in1
net spindle-rpm-fb => spindle-at-speed.in2

net spindle-at-speed-sig spindle-at-speed.out => spindle.0.at-speed

net spindle-index-enable lcec.0.El5101.enc-index-c-enable => spindle.0.index-enable

net spindle-rpm-fb => pyvcp.spindle-speed

Seems to all be working correctly open to any additional inputs

One would like to have a speed output from the drive but there isn't one.

Should be possible to get rps or rpm in the frequency output
by setting proper scaling factor in frequency-scale. 
Have not tried it, though.

Hakan wrote:

One would like to have a speed output from the drive but there isn't one.

Should be possible to get rps or rpm in the frequency output
by setting proper scaling factor in frequency-scale. 
Have not tried it, though.

Should be possible

doesnt enc-pos provide an accurate speed.

I'm not sure on that. pos = position so it implies reading a linear scale when you have a spindle, you want to measure RPM or RPS which a frequency resolves to with appropriate scaling. 

pos is of course the number of rotations since zeroing on index. This is the main driver for
the synchronized move, the z-axis is being forced to follow pos.

Rotational speed isn't mandatory, but convenient to have.
You use rotational speed for the at-speed pin and is displayed in the gui.
I guess enc-frequency-scale should be set to 1/2000, so 0.0005, for rps.
For rpm 1/(2000*60) = 8.333333e-6.