Servo Spindle MESA connection

Hello

I need some help regarding connecting a servo motor / driver to MESA 7i76 card
I'm going to use a servo as spindle because of the feedback.

But I'm not sure how to connect the servo driver to the mesa card.
The MESA card has a separate connector for spindle connections. But I'm not sure what to connect.

MESA card connections:
TB4 PINOUT
TB4 PIN
SIGNAL
1 SPINDLE-
2 SPINDLE OUT
3 SPINDLE+
4 NC
5 SPINDLE ENA-
6 SPINDLE ENA+
7 SPINDLE DIR-
8 SPINDLE DIR+

And copied from the servo/driver manual

I looks like that drive can be controlled multiple ways (analog torque, analog velocity, step/dir)
but there is not enough information in the pinout to determine the connections

Do you have a link to the manual for the drive or a drive part number?

Thanks for your reply.
I uploaded the manual to my dropbox (too big to upload on the forum): www.dropbox.com/s/1agkoclhaqj8k4r/JASD%2...er%20Manual.pdf?dl=0

It looks like that's a normal servo drive so requires +-10V for analog speed control
Since the 7I76 analog out is unipolar (0 to +10V only) that wont work, so its probably
better to use the drive in step/direction mode (assuming you have one of the 5 7I76 stepgen outputs free)

You could still use the 7I76 spindle enable output to enable the spindle drive

Yes I have unused stepgen outputs
Will I still have spindle feedback/constant surface speed this way?

These pins should be connected to the 7i76 If I'm correct?
36 SIGN+ Direction Positive
37 SIGN- Direction negative
41 Puls-
43 Puls+

Which pin on the driver is for enabling the servo?

Yes. you can still have spindle feedback this way

It looks like the default programming of "DI1 negative" is servo-enable
so this could be grounded with the 7I76's SPINDLE ENA signals
to enable the drive

First I connected the servo and driver to check if everything is working.
I can manually test the servo with the controls on the driver. That part is working servo turn and on the LCD panel on the driver it shows the rpm, even if I turn it by hand. So the encoder is working.

DIR and PUL connections are wired to the 7i76
Didn't connected the servo/spindle yet. What's the purpose of this connection? Just a start/stop signal?
I started the configuration wizard and added a stepgen for my spindle. But no spindle movement yet.

I'm a complete beginner with drivers, configuration and so on. I don't know if I should configure something else on the driver?

With help from a different forum I got the servo to respond to step/dir which is good

But not sure how to configure the servo spindle?

I read different things.
Adding it as an A axis or Spindle during the config wizard. Which one is the right method? Wiki doesn't show any information about it.
Also it seems I need to change the stepgen to velocity mode?

Yes, you need to set the stepgen to velocity mode and set the stepgen scale to steps/turn
then the stepgen velocity command must be wired to motion.spindle-speed-out-rps

Ok
And do I need to set it up as A-axis or Spindle during the config wizard?