Hal configuration for BISS encoder

The PWM scale is voltage right? setp hm2_5i25.0.pwmgen.00.scale 5.0 means the amplitude of the signal is 5 volts.
Does PWM in our context go positive to negative!! I did try setting it like this with 7i77 board.
When I measure the PWM output with a voltmeter, it shows positive 5 volts with both positive and negative jog directions with direction pin providing +5v when using negative jog and staying at 0 volts with positive jog.

Since I mentioned scale as 5.0 and I'm getting 5 V PWM signals correctly but why an initial spike of 0.25 volts and it goes back to zero and then climbs to 5 volts is the mystery that needs solving. I'll plot the velocity and PWM signals tomorrow and report back but isn't the PWM signal the one with drives the position thereby driving the velocity? Maybe setting max jog velocity has some effects on the PWM signals generated.

The _average_ PWM voltage (what a voltmeter reads) with be the output voltage (~5V)
times PWM_value/PWM_scale

The PWM amplitude is always 5V, its duty cycle changes with the PWM value

I would set the PWM value manually for testing as I have no idea what the velocities
are relative to the PWM scale

I finally got good results of making a servo out of inexpensive bldc motor and drive using 6i25_7i76_7i74 and 1 micron resolution linear encoder. I consistently get repeatable positioning of the axis within 4 micro meters measured from an external device. Now I'm wondering if there's a way to offload the PID calculations from running on servo thread to the FPGA? I'm guessing this will open up options for adaptive control algorithms to run on the fpga down the line. How much processing can we push on the fpga and the daughterboards? Does the daughterboards also have some hardware for processing?