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but I know how to use the halscope. I know how to read the curves, but I don't know which parameter to adjust when, for example, I have oscillations in the error.

Selecting this button fixed my issue .

Absolute spindle speed accuracy may not be terribly important
anyway for actual machining.
 

Unfortunately the spindle doesn't have an encoder. And adding one might proof difficult.

Thank you. I will check and try.

I want to ask you a question. How can I use the M19 command with Mesa 7i96s?

Can I call the M19 gcode and position the spindle?

Is there a way to get the Header Files for the RT-Kernel installed? I've tried to install the linuxcnc-ethercat Master, because i´d like to use it with Mint. I  prefer Mint a little more over Debian.

 

You can use the 'task' parameter like this:

There is no way to 'unhome/rehome' a joint in gcode.
There is a modified 'orient' component that allows optional rehoming to an encoder index signal before doing the spindle orientation.
This post contains a config for spindle/rotary switching in gcode using the modified 'orient' component to rehome the spindle before switching to rotary mode. (This requires an encoder with index on the spindle)
forum.linuxcnc.org/38-general-linuxcnc-q...blem?start=20#324276