I have a machine with Axor MiniSpeed 140 DC Servo drives, what kind of input do these need? I would like to replace the antique control with a Centroid Acorn.

The pinout in the diagram below doesn't seem to correspond with the step/direction output of the Acorn. I'm a long time CNC'er, first time digging into the belly of the beast, thanks for your patience.

http://www.axorindustries.com/en/sys...MS-SHR-RKM.pdf