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Thanks for your reply!
The solution seems promising. I went through the code and I see how you control the axes using jog-counts like with MPG. The only doubt I have is that whether these jog-counts will respect the coordinated motion of XY axes. Say if I change both counts at the same time in my component, will it result in synchronous movement of X and Y and will it do proper velocity & acceleration/deceleration, or will it be just a linear motion with constant velocity? Please let me know if you have any idea. Thanks!

Keep up the good work guys!
There might be obstacles but there is light at the end of the tunnel!

I just managed to reverse the 2 stlink keys but it does not appear as maintenance?

youtube.com/shorts/SjhZnoY1864