0-10v Servo Control with 7i76E

You could use PWM (Offset PWM is easiest)
and an Op-Amp filter/buffer

Thanks for the reply !
The driver is: Unidrive sp1404
I look at the manual and I'm not sure there is no step direction controll.

Manual : www.nidec-netherlands.nl/media/2133-freq...s11-0471-0002-11.pdf

It looks like you can use step/dir or quadrature pulses.

The source for frequency slaving mode may be quadrature A/B encoder signals or Frequency and Direction. With the latter care must be taken to
ensure that the D set-up time (10s) is observed or pulses may be lost. The frequency slaving input must be selected as F and D or quadrature to
match the source mode. The input mode is selected by Pr 3.38 which defines the encoder type. The default for source and destination drives is
quadrature A/B mode, unlike previous products which used F and D only.

The encoder is connected to this place. Yes, I think the only option is to buy 7i33TA

You can use this input to control the drive speed (and hence position)
Connect the encoder to LinuxCNC and then connect a stepgen to the drive inputs.

Hello again, everything went wrong. The drivers that accept step and direction one by one stopped working. The manufacturer says that they are locked and cannot be unlocked without a program. It's the driver Parker HID16

Now I need to redesign the dashboard for new drivers. I have three free drivers. But they do not accept step and direction.
I want to make a new MESA configuration. And this 7i76E board should remain for the next project.

Can they work together Mesa 7i93 + mesa 7i48 ?
Is there a ready firmware for this configuration. Thanks!