LARKEN viper.100 (step/dir) on EMC2

Hello everyone.:)

I am building a lathe with Larken viper.100 servodrives and i am wondering
if i can use "stepconf" but then i will get sawtooth signals in halscope.
Do i need a PWM signal ?
This drive closes the loop so the encoders are not connected to EMC2 (PC).

All the examples in (example configs) close the loop into EMC2 (encoders connected into PC) so i can not use that.

Is there someone that has a HAL and INI file with similar configuration that i can modify, or a PWMgen open loop example.

Or is the Viper.100 controled with sawtooth stepsignals ?

PS: It says STEP/DIR in the manual.

Thank you.:stickpoke

KRUMMI