Programming stepper Driver 2DM2280 with Zelio PLC

[Dicey]

I am new to this, I need to programme a 2DM2280 stepper driver with a Zelio PLC.

My questions are how to connect the STEP and DIR with the PLC's outputs, and i found it hard to create the programme that counts the steps and stops at a specific position while maintaining the same direction then go back to its original position backwards with the same steps.

Any language of programming is welcome help.

Thank you