Differential Pulse Train Output Requirement

[karoria]

Hi all, I want to connect siemens servo drive and motor to g2core. The drive (Sinamics V90) supports 5V differential input or 24V open ended input for pulse and direction. Which is not directly available with g2core. Can somebody suggest easier way to make small circuit for any of above outputs? BTW, I have tried with 5V open ended which drives the motor but reverse direction does not work properly instead it moves a very slow and jerky motion. Can I level shift the complete pinout to 24v with an easier way and which will work for both input and outputs? I mean 3.3 to 24 and 24 to 3.3 both way.