If you've not got a English copy of the manual yet, PM your email and I can send you a copy.

By the sounds of it, you'll want to run 0-10V Speed control mode.
I'm not sure if a standard fault output will work for if the motor stalls, so you may have to try something like an At Speed output option.

Other option would be to run the motor using step/dir, then use an On/At Position output option.