Position Control with DM542T Driver?

I am looking to make a Robot Arm driven by a DM542T stepper driver, and all I can find is speed and direction control, with no way to code the Arduino board to position it in a number of steps or to a position from a potentiometer. I cannot find anything online, does anyone have any guidance on how I might do this?

Have you looked at the AccelStepper ProportionalControl example ?