How to control Siemens servomotor using Arduino?

We have selected Siemens servomotor 1FL60641AC610AA1 and Siemens drive 6SL3210-5FE11-5UA0 to control the rotation within 5 microns. We would like to use pulse width modulation (PMF) to control the rotation via Ardunio board (no PLC involved). i.e., the input signal to Siemens drive is pulse width modulation (PMF). Please help what other hardware and circuit connection required to make these systems work?

PWM for a high spec servo drive? That's not making much sense to me. Surely you'd command it
digitally - I note it does have RS485 option, perhaps that has a good command set?