6i25 7i76 closed loop spindle

now with m3s4000

pid.s.command=4000
pid.s.feedback= matches display 4000+-10rpm bouncing around
pid.s.output=4000 +-.005 bouncing around

Is that the behavior we are looking for? If so am i ready to start tuning?

Yes, you should be able to tune now

After many hours of trial and error I think the spindle Is behaving. Attached is a graph from the hal scope of hm2_5i25.0.encoder.00.velocity. I was able to do a rigid tap in the air. Everything looked reasonable (depth, forward/reverse). Is there a way to spin the spindle by hand watching the depth with and indicator before I actually tap a hole?

I would also like to move to orienting the spindle using m19. Do I need to modify the hal and ini files for this?

You can always use a candle or soft plastic to test if the threads come out OK.
That is Andy's idea, not mine.

Great advise on the soft plastic.

How should I move forward with the m19 spindle orient? Is there some standard code to start with for 6i25 7i76 ?

There is the orient comp (component) included with Linuxcnc, so it should be a staring point.
I used it once and it worked properly since the spindle drive already had everything included, so i had to add an output fro orient spindle and an input for spindle is oriented. might not be the same names, i just used them as an example.
More info here:
www.google.com/search?source=hp&ei=M87CX...U6AYcQ4dUDCAY&uact=5