There are a few more variations, some system close the loop back to the trajectory controller/planner, other to the drive. (Mach etc) , do you need general principles or do you have a certain product that you want to commission.
As this will decide what type of instructions you need, if you already have a product, show part No.s.
Some drives are step/dir some are ±10vdc analogue signnal in.
Al.