The GUI readout matches a photo tachometer and is 60x the encoder.0.velocity in hal meter.
motion.spindle-revs increases 1 with 1 spindle rotation.
Even with larger value min-speed-estimate the read out goes to zero a second or 3 after spindle stops.
Using default value of 1 for min-speed-estimate has interpolation bouncing between the current A channel position to the next anticipated position perpetually with spindle stopped. This must be the source of the phantom velocity ?
The spindle rpm is manual. I have no way to test threading as the drives have lost their smoke. It could be the lathe will work fine as is (?)
The hal was done by stepconf but here it is anyway
Code:
# Generated by stepconf 1.1 at Wed Jul 11 00:03:56 2018
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hal_parport cfg="0x378 out"
setp parport.0.reset-time 2000
loadrt stepgen step_type=0,0
loadrt encoder num_chan=1
loadrt abs count=1
loadrt scale count=1
loadrt lowpass count=1
loadrt near
addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf encoder.update-counters base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf stepgen.capture-position servo-thread
addf encoder.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
addf abs.0 servo-thread
addf scale.0 servo-thread
addf lowpass.0 servo-thread
addf near.0 servo-thread
net spindle-cmd-rpm <= motion.spindle-speed-out
net spindle-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-cmd-rps <= motion.spindle-speed-out-rps
net spindle-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-at-speed => motion.spindle-at-speed
#setp encoder.0.min-speed-estimate 12
setp encoder.0.position-scale 48.000000
setp encoder.0.counter-mode 1
net spindle-position encoder.0.position => motion.spindle-revs
net spindle-velocity-feedback-rps encoder.0.velocity => motion.spindle-speed-in
net spindle-index-enable encoder.0.index-enable <=> motion.spindle-index-enable
net spindle-phase-a encoder.0.phase-A
net spindle-phase-b encoder.0.phase-B
net spindle-index encoder.0.phase-Z
net spindle-phase-a <= parport.0.pin-11-in
net spindle-index <= parport.0.pin-13-in
