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Wouldn't be to bad to use linuxcnc. I'm in the process of building an automated saw with a magazine to load bars.

How does the bar feed work?
How does the saw feed work?

That's would determine my approach

Thanks Benb, I did that and unfortunately nothing changed. I guess what really determines the direction of the axes is halui.joint.N.[plus|minus]. I even took halui.axis.X.plus and minus out of the configuration line, and the pendant works with just halui.joint.0.[plus|minus].

In my tests I even commented out all the lines that have halui.joint.N.[plus|minus] and Velocity mode stops working, but to my surprise, Step mode still works. It is as if Step mode is set up somewhere else but I can't figure out where.