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Emco use encoder from spindle for ramp up and down speed between toolslots and calculate the way in theorie.. then the other sensors looking for the real position

I have found 2 problems: in turning and tool-change operations.
I found a workaround since at this moment I have no time to really understand and find a solution for the errors.
So, please do not consider it a solution.
In the folder /home/your_user_name/nativecam/cfg/lathe/ you should find the
config .cfg files.
(Or maybe the files you are using are in /usr/share/linuxcnc/gladevcp/NativeCAM/cfg/lathe/)
Edit the turning.cfg file and search for the word "parent" (without quotes).
(maybe you could make a backup copy before editing)
I have found it in line 71, 99, 100
Place a semicolon (that it means comment) at the beginning of each line containing the word "parent".
Save the file.

Same procedure for the tool-change.cfg file.
Please comment lines 76 to 80 and 198 to 203 containing "parent"

The turning operation and the tool-change seems to work.
I don't know if there would be side effects.
Hope this helps.

Regards
Giovanni

I have built 5 of Voron 2.4 and 4 (i think, maybe more) or Voron Legacy.
This is after buying 11 or more of Creality CR printers (not the cheap ones, some pricing errors so got them all cheap).
Having got that out of the way, if you can get the Elegoo Centauri Carbon for 300-400$, get it, do not ask, do not think, just get it. For that price you can not source the parts only.
Now, building one will teach you a lot of things, a lot, but it will also want to shot it with a bazooka many times if you do not follow the instructions.
Voron has very good instructions, browse through them once or twice before even starting to order things, and if you do start ordering things, get a kit, it will save your hair if you have any left by then.
For a low budget, build a Legacy, but if you can stretch a bit, build the 2.4, it is a magnificent piece of engineering and it is a workhorse.
And in case you go all DIY, here is a version of 2.4 that uses linear rods for Y and Z axis instead of linear rails, easier to source and cheaper:
www.printables.com/@Toma3D_1991434/models

I think you need
[EMCMOT]
EMCMOT = motmod num_extrajoints=1

It's worth knowing that in many (but not all) cases INI file entries are simply copied into the HAL file.

Typically you will see:
(INI)
(HAL)
What you want to end up as the HAL command is something like

It doesn't matter what order the modifiers after "loadrt motmod" are, which means that you can either have the num_extrajoints as part of the [EMCMOT]EMCMOT substitution, or you can add it yourself to the loadrt..... line

Can you post you current hal/ini files?

Note that tuning a velocity mode servo is largely a matter of setting FF1 correctly.
 
Here's an older velocity mode tuning guide:

gnipsel.com/linuxcnc-old/tuning/servo.html