thank's for the answer,
I understanding what you mean,
Normally I used industrial plc and HMI and with these components I can control stepper motor drives in various modes.
So I think is possible to create with Arduino ramps,speeds,positions etc... (I can create the recipes that I can recall in "setup".
But
The only thing that I don't know is there is some instruction that enable me to switch on fly the modality when I read an interupt hardware input of Arduino
than's for all replies.