I believe these drives can be used in the stand-alone or from a controller, so I would imagine they have a simulated encoder output CN1? The analogue output from the ICM 2900 goes to the +-10 volt control to the drive and the encoder out from the drive goes back to the ICM2900 encoder input for the appropriate axis, if you have diagrams for the ports on the drives it might help here.
Sorry I did not look far enough, it seems there is a resolver in from the motor and the CN1 has a simulated encoder output that goes to the ICM2900.
The MOCMDX command goes to the Command signal in on the drive.
Al
CNC, Mechatronics Integration and Custom Machine Design
“Logic will get you from A to B. Imagination will take you everywhere.”
Albert E.