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Hey peeps.

I have A couple of questions. I want to use my mill as a cnc lathe.

Can I have pb turn and mill on seperate profiles? 
And can pb turn utilise 3 axis? I need the third to line up the work and to change tools which I will have in the vice.

The other option is using a custom post in fusion but im guessing thats way more complicated.

Thoughts? 

Much appreciated 

48 volt power supply and DM542A stepper drivers would almost quadruple torque you have now with your same Nema 23's

Yes that would be a problem. Linuxcnc asks the encoder to reset the counter to zero and count continuously up/down from there. I don't know any details of this encoder so I guess it is reading the manual to find how that can be done. Luckily Beckhoff has ok manuals.
For velocity you can try the ddt hal function, generate velocity as the derivative of the position. Taking the encoder pin values is limited by the servo loop time and EtherCAT cycle time, anything faster than some hundred Hz will fail.