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net xpos-cmd <= joint.0.motor-pos-cmd => remora.sp.0 joint.0.motor-pos-fb
 

My pwm pin is remora.sp.0...7.
Can you write sample hal config lines for single axis. Dont know how and where i link joint.n.motor-pos-fb?

Net xpos-cmd <= joint.0.motor-pos-cmd => remora.sp.0
Net xpos-fb <= remora.sp.0 => joint.0.motor-pos-fb
Setp joint.0.amp-enable-out 1

I played around a bit with this and learned that  with such
extreme acceleration, the stepgen PID loop must be tuned
(with added FF2 and I term)

_BUT_ I wonder why you need such high acceleration.
30000 degrees/S^2 means you get to full speed (10000 degrees/sec)
= 1666.7 RPM in 1/3 of a second!

Thank you!