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I haven't read the manual for your particular stepper driver, I haven't worked much with stepper drives either but in my few cases I'm used to running the drive via a pulsetrain or linedriver signal. You have a relay output PLC (last letter is "R" - Relay) which would not work to output pulses.

If you have any input on how your specific stepper driver operates, you should share such information upfront to better be able to help you.

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