Need Help to Communicate Parker Servo Drives via SLC 5/03

Dear Friends,

We have a setting machine in which 20 Parker Servo Drives and motors (name plate images attached) used to place the tools at desired position. The control system is a very old, PC based having MS DOS. The PC communicates with all drives via an RS232/485 converter and then a daisy chain to all drives.

As we have been facing problems with the control system, so we have started working to control the servo drives via an available SLC 5/03 and I/O cards. So I have two tasks to do now;

--> First make a parameter setting so the motor rotate in both directions if pressing FWD or REV P.Button.

--> Second, make a communication link of SLC 5/03 and drives to run the motors via PLC.

I need help from my friends how to attain that goal as i don't have any experience with servo drives in past. I read the manual of drive but need some help to complete the task.

Thanks in advance.