Step, direct and engage signals / Scara
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My first question is I don't need to use the stepper drivers because I'm using hybrid stepper motor that just needs a step, direct and engage signal. Can I pull this off the board how is this done
I'm planning to use this for Scara robot simple 2 arm, is the kinematics for this advanced enough to be practical with endstops and accuracy?
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Your motors evidently have the drivers built in, so see https://duet3d.com/wiki/Using_external_drivers. For SCARA configuration, see https://duet3d.com/wiki/Configuring_RepRapFirmware_for_a_SCARA_printer and my blog https://miscsolutions.wordpress.com/2017/08/27/converting-the-robotdigg-scara-printer-to-duet-electronics/.
