The TMCM-142-IF cannot be run from external STEP/DIR signals. We do offer other modules that can accept STEP/DIR input signals. For example: TMCM-1070, TMCM-1240 etc.
Depending on the current, voltage and other application requirements, you could select one of our other TMCM modules: https://www.analog.com/en/product-category/embedded-motion-control-modules.html