Kollmorgen S Series A/C Servo drives: How do I connect them for Mach 3 Step/Direction?

Drives do have resolvers but also have DB9 connector labeled 'Encoder Equivelent Output' that the current controller (AMC4) was using.

Appears that I have a few options for inputs and modes. I've read somewhere that STEP/DIRECTION might be used but in POSITION mode on my drives, but no details on how to connect and everywhere I have read says that CNC machines require Torque/Current mode setting.

I've searched the forum for step/direction to analog converter but have only found homann board for spindle control.

Trying to connect these to dedicated Mach3 & ESS Smooth Stepper setup.

Drives are Kollmorgen S Series
My manuals are attached. Any help would be greatly appreciated!!

John