Servo control with manual pulse generator

[George]

I have a servo control ( inland motor SPAE series)
the drawings are here

fpt://ftp.kollmorgen.com/dist/techdocs/manuals/obsolete/spa_spar_tpa_tparinstall.pdf

I have this unit connected and working correctly.
I also have a Fanuc manual pulse generator, 5V, AB Quadrature output .
I would like to be able to connect this as a "handwheel".

I have the EPIC programmer and PicBasic Pro Compiler, can anyone point
me in the right direction as to where to go to figure out how to
accomplish this?
or is it even possible?

If this turns out to be something beyond my abilities, does anyone
here do this type of programming/design for a fee?

Thank You
George Schwab