Position Mode:
loadrt stepgen step_type=0,0,0
Velocity Mode:
loadrt stepgen step_type=0,0,0 ctrl_type=v,v,v

Position Mode:
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
Velocity Mode:
net xvel-cmd axis.0.motor-vel-cmd => stepgen.0.velocity-cmd

So, the HAL looks like (for the AXIS 0):

# Generated by stepconf at Thu May  6 19:46:29 2010
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hal_parport cfg="0x378 out  "
# loadrt stepgen step_type=0,0,0
loadrt stepgen step_type=0,0,0 ctrl_type=v,v,v

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
net spindle-cmd <= motion.spindle-speed-out
net dout-00 <= motion.digital-out-00
net dout-01 <= motion.digital-out-01

net ystep => parport.0.pin-02-out
setp parport.0.pin-03-out-invert 1
net ydir => parport.0.pin-03-out
net zstep => parport.0.pin-04-out
net zdir => parport.0.pin-05-out
net xstep => parport.0.pin-06-out
setp parport.0.pin-07-out-invert 1
net xdir => parport.0.pin-07-out
setp parport.0.pin-09-out-invert 1
net dout-00 => parport.0.pin-09-out
setp parport.0.pin-14-out-invert 1
net dout-01 => parport.0.pin-14-out


net estop-ext <= parport.0.pin-10-in
net home-y <= parport.0.pin-11-in
net home-x <= parport.0.pin-12-in



setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 1
setp stepgen.0.dirhold 27000
setp stepgen.0.dirsetup 36000
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
# net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
net xvel-cmd axis.0.motor-vel-cmd => stepgen.0.velocity-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb