AC servo ASDA-B2 modbus position control
This kind of servo motor driver normally works together with a PLC. Of course, there would be many ways to generate the motion control signal you need, you can even do it with a bench function generator.

But I'm guessing your question is more from a user perspective, so if you want an out-of-the-box solution you should take a look at the range of PLCs offered by the manufacturer of your driver:

https://www.deltaacdrives.com/wp-content/uploads/2012/07/Delta_DVP_C_EN_20120606_main.pdf

Most of them have both the pulse signal you need and RS485, Modbus or other communication options.

If what you meant is that you happen to have the driver seating there and you want to generate this position control signal as a DIY project with a microcontroller or Raspberry Pi; that's also quite feasible I think, but I would have to take a deeper look at the manual before jumping into conclusions.

Some of these devices even have a way to program particular motion control routines, see for instance here: https://www.youtube.com/watch?v=QJGwrEGMhjo but I'm not sure if your drive offers this and/or that would give you enough flexibility to produce the movements you need.