Thanks a lot, i already find this kind of topic but never found the right one. i will read and try it.
I have tried to change the configuration on the hal file using mux4 etc like this, but my stepper motor still doesn't move, maybe because it doesn't have the stepgen.02.position-cmd parts. But i think it will be much easier with extra joint configuration.
Code:
setp hm2_7i98.0.stepgen.02.control-type 1
setp hm2_7i98.0.stepgen.02.step_type 0
setp hm2_7i98.0.stepgen.02.position-scale -400
setp hm2_7i98.0.stepgen.02.maxvel 30
setp hm2_7i98.0.stepgen.02.maxaccel 100
setp hm2_7i98.0.stepgen.02.steplen 2000
setp hm2_7i98.0.stepgen.02.stepspace 2000
setp hm2_7i98.0.stepgen.02.dirsetup 3000
setp hm2_7i98.0.stepgen.02.dirhold 3000
setp hm2_7i98.0.gpio.013.is_output 1
setp hm2_7i98.0.gpio.013.invert_output 0
net a-enable => hm2_7i98.0.gpio.013.out
loadrt mux4 count=1
addf mux4.0 servo-thread
# Set the speed value
setp mux4.0.in0 0 # stopped
setp mux4.0.in1 200 # speed forward
setp mux4.0.in2 -200 # speed reverse
# Jog with Push Button, Positif direction pin 001, Negatif direction pin 005
net jog-a-plus-raw debounce.0.0.in <= hm2_7i98.0.gpio.001.in_not
net jog-a-plus debounce.0.0.out => mux4.0.sel0
net jog-a-minus-raw debounce.0.1.in <= hm2_7i98.0.gpio.005.in_not
net jog-a-minus debounce.0.1.out => mux4.0.sel1
net chuck-speed mux4.0.out => hm2_7i98.0.stepgen.02.velocity-cmd
loadrt or2 count=1
addf or2.0 servo-thread
net jog-a-plus => or2.0.in0
net jog-a-minus => or2.0.in1
net chuck-enable or2.0.out => hm2_7i98.0.stepgen.02.enable
