moving problem

If you create the hal file with pncconf you can choose the polarity at that time

If you have a working hal file already, then yes, you will need to
add a '-not' to any 7I76 field I/O pin names used for limit/home switches

that is, change:
hm2_5i25.0.7i76.0.0.input-08 to
to:
hm2_5i25.0.7i76.0.0.input-08-not

(assuming your base FPGA card is a 5I25/6I25)

Yes my FPGA is an a 5i25, lets try wiring like the picture then. Thank you guys.

thank you very much guys, as you said and after adjusting the HAL file a little (I don't know why exactly it makes things bad for me ...) the operational limits are already there.

Now I would like to increase the movement speed, if I exceed maxvel = 12, the following join0 error is skipped. Is this my speed limit? I enclose INI file in case I am doing something wrong.

I think this was done with a quite old version of pncconf
There will be errors in both the ini and hal files

In the INI file, replace the PID P values of 50 with 1000

Can you post your hal file, it will need work also

Sure, here you have

in the hal file, delete all lines like:

setp pid.N.maxerror .0005
and
net N-vel-cmd => pid.N.command-deriv

(where N is x,y,z,a etc)

Done.

what speeds could it reach, how do I determine them?

Following join error still remains

Speeds will be limited by your motor/drives

If you have step motors often the limitation is that you need to compromise speed
for acceleration since you lose so much torque at higher speeds
and you need enough margin that you never stall on rapids

Edit if you still have following errors, please post you current hal and ini files

I understand what you say PCW, I do not want frantic speeds either, I have no route for them hahaha, but if I would like something faster, especially when positioning machine, something about 20-30 would be fine I think. Indeed they are steppers, Nema23 of 425oz. Give me a few minutes and I put the files as I currently have them.

Following error still remain, specially in join 0.

There is no way to go from max_vel = 10 and now during machining I lose the Y axis, suddenly stop moving