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My spindle has an encoder on and at the moment, regardless of what gear I am in, it will always run at the selected RPM. I tested this, I selected the low gear ratio manually and ran S1000 M3 and it ran 1000RPM. I then did a M5, set the gear to high ratio manually, set S1000 M3 and the spindle ran at 1000RPM.

Unfortunately there is no clutch on the gearbox so I wont be able to change gears while running.

I basically just need a way to change gears automatically when a spindle speed command is given. When a S command is given, the spindle should first stop if it is running, then change to the appropriate gear based on the S command given, then start and run at the commanded speed. If possible, I would like the spindle to stop, then run at a very low rpm , then change gears if needed, then run at the given rpm.

Is there any way to implement this ?

Best way to get code changes for specific hardware into master would be to create a pull request with the description of the issue and the proposed (and tested) changes.
github.com/LinuxCNC/linuxcnc

@max68

No double posting please.