0-10v Servo Control with 7i76E

I have big plans for the lathe . I will add another spindle in the future. This one should work as a C axis. Currently the resolution of the servo motor is 2048x4 = 8192 . I will add an additional encoder connected to the spindle with gear 2:1 or 3:1 ( 8192x 2 or 3 ).

Hi, I can't clear the output voltage ripple ...Does anyone have a photo of the +-10v signal with the oscilloscope.
What can I improve on the scheme?

edit; ignore that, just noticed the tiny _invert label

The problem is that if I put a big capacitor and a resistor, I will add a big delay. I want the spindle to also work as a C axis for milling. I don't know what's wrong. Does anyone have a diagram of the solution that is in MESA card? Or a picture of the output with an oscilloscope?

Here is the analog output circuit of the 7I97
Note that this uses offset PWM (no direction signal)
It does need an enable signal.

Note that the power for the LCX04s come from a
3.3V reference supply