g76 problem

..after a long break, here I am again in the workshop. I'm trying to make a simple thread on the lathe. the control card is 7i96s. spindle motor is AC servo with own encoder. I did not connect an additional encoder to the card (the servo driver reads the correct revolutions from its own encoder). the question is, does the additional encoder have to be connected for the g76 to work, otherwise the g76 stays on that line and nothing happens? thanks

Pretty sure it does require having encoder feedback to LinuxCNC, otherwise it has no clue what the spindle is doing.
For some stuff it require A or B and Index, for some it requires both A and B besides index.
Been several years, so forgot details.
Or getting old...

Some servo drives have encoder outputs to piggyback to the motion controller. Does yours?

If the drive has an encoder output, you need no additional encoder
but the drives encoder output must connect to the 7I96S and it must
have a index signal.

I order for G76 to work you need:

Spindle encoder scaling and direction right

Spindle at speed true

Index working properly

thank you very much, i understood, i just didn't see at first that my driver has encoder outputs... will try tomorrow to connect them to the card, since I don't know how to change the hal/ini, I'll try to make a new configuration through pncconf including the encoder. I will let you know..

 
friends, I connected it and it works:) I'm not satisfied with the thread, I'll check it on metal, it won't work on wood(m10 is not m10). I still need to understand whether 1-5rpm +- is so important or does the controller itself take feed parameters based on rpm feedback? m4 also doesn't work for me (that is, it works in the same direction as m3), do I have to control the change of direction of m4 via the relay on the driver input or should I try via the card by using negative voltage? the driver is AASD 2.3kw. Thank you very much for your help.
G76 P1.5 I-0.2 J0.03 K1.4(for m10?)

youtube.com/shorts/-iS6gQmV5TY

This works for me:
G0 G40 G18 G80  G21 G49 G95
G90 G7 

F300 S450
M3
G4 P1
M7


G0 X10  Z2
G76 P1.5 Z-30 I-.1 J0.1 R 1 K3 Q29.5 L3 E0.5 H2
g0 X20
g0 Z10

M9
M5
M2
%

 

i can try thank you.I see now that I didn't use G95:)... J is too much for my lathe 0.03 pass is ok. the only thing I can't understand is why K3 (thread depth) .. I think it's some formula P x cos30 x 2?