Control a 400 watt servo motor by a PWM

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DCOM

I have a servo motor, attactched to the driver, ready to be controlled by 12 dc input signals to the driver the two signals for the CW and CCW directions can by obtained through a relay contacts,,,,,,,,,, however
the control signal is a pwm , how can i use this PWM to control the servo motor or simply having the two inputs for the two directions

What I have tried:

i tried OPAMP, and PIC to handle the negative and positive limits into to different outputs