connecting Encoder input to Ultra 3000 in cam follower mode

[RPPNA]

I like to connect an encoder to Ultra 3000 and ahve motor follow the encoder values using follower : Auxilaary encoder mode. I think I connected channel a, b, and I of the encoder to the auxilary encoder input terminals of ultra 3000. I cannot get Ultra 3000 to respond. Ultra 3000 does start when I initiate velocity control mode.

Any help?

Thx.