Hello Xavi:
I am not familiar with the Omron servo driver or motor. However I am in the process of implementing a dspmc/IO controller on an existing machine with DC brush motors, and analog +/- 10v. servo drivers. My installation is not complete, but there are several members with finished operational systems, who may add further commentary.
The analog +/- 10v. control signal is generated by the dspmc controller, and is output through port J2, board 7711. The servo driver reads this voltage, and moves the motor accordingly. The pin on your servo driver should be labeled "signal" somewhere in the data sheet. The servo motor also outputs a Tach signal, which is wired to the servo drive, and not the dspmc controller. Also, the analog output for each axis should have the ground from the 7711 board to the servo driver. Board 7711, port J2, pin #15 on the 7711 is the X axis analog output, pin #3 is the Y axis analog output, and Pin #17 is ground. The X and Y axis wiring should be twisted pairs, shielded cable.
In the dspmc guide, the X axis is labeled 0, the Y axis is labeled 1, the Z axis is labeled 2, and the A axis is labeled 3.
Regarding the encoder outputs, they must go to the dspmc through the J6 connector. The encoder outputs are 5v. These connections are A+, B+, Z+(the encoder reference) +5v, Ground.
All of these signal wires must be done with shielded wire, and the cable shielding connected at only one end, to the chassis ground, not the signal ground of the encoder, or controller, or servo drive.
The 7711 boards are not opto-isolated, so be careful working with the connections. The 7535 board is opto-isolated.
After making the connections, the servo drivers will have to be tuned, and adjusted properly, using the software from Vital Systems, AxisWorks. The data sheets for the Omron servo drives should have a basic setup or starting point regarding the pot settings for gain, tach, balance, etc.
John