How to use Rcservos as axis motor.

How can i use Rcservo as axis? I want to drive 6dof robotic arm which has 8 steppers. One for each joint except 2 for shoulder and one for gripper. I have seen example of driving rcservo using pwmgen. That can drive servos, but I want know how to use these servos as axis.
Any help will be highly appreciated.

Do you mean the normal limited motion range RC servos?

They should works with direct joint position commands
(with appropriate offsets,  and scales), like any position mode
actuator.

Yes I am referring normal rc servo with 180 degree of motion.
How can I assign these servos axis. So that I can control like nomal axis movement and i can use genserkins

You would connect the joint.n.motor-pos-cmd to the controlling
hardware (PWMgen etc)

You would need to loop back joint.n.motor-pos-cmd to
joint.n.motor-pos-fb

You may also need the scale component unless the controlling
hardware has offset and scale parameters.

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

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

Thank you so much for your guidance.
What about enable pin? Joint.0.amp-enable-out?

I was able to move servo. But motion is too jerky. And servo is starting from any position. G0 x0 don't move to servo 0. It moves to where it was started.

The motion should follow the PWM value and that should follow the absolute position.
if homing is disabled, I would expect the starting position (and therefore PWM value)
to always be the same.

Not sure of the resolution of the Remora PWMgen, it's tough to do PC servo PWM
in software because the entire range of motion is controlled  by a 1 ms PWM width change
(so say a 50 KHz base thread would result in only 50 discrete positions)

Thanks for explaining. I will ask help from remora developers.