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1.	The PDM command protocol is designed to provide feedback for each command sent to the PDM.  The best way to provision it, would be to send commands to the PDM and verify that the PDM received the commands by inspecting the corresponding Config Feedback, and Feedback commands.
Command with Byte 1=0 (Configuration Motor Model commands) have corresponding Motor Model Handshake responses from the PDM (command 134 decimal or 86 hex).  This allows the controller to verify each channel is properly configured without the need to repeat commands for a period of time.
Configuration for channels 1-6 and 7-12 (commands 6 and 7) have a Corresponding Config Handshake (response 135 (0x86 hex) and 136  (0x87 hex).  
This is the best way to ensure the PDM is configured properly.
2.	Once the PDM starts it will send the Handshake commands with the current configuration information.  The display can be sure the PDM is properly programmed by inspecting these values and make any necessary changes.
3.	The PDM will go to sleep if it does not receive any commands sent to it within a period of time.  The PDM will “wake up” when it sees can activity.  Once the PDM is “awake” configuration can be done.
4.   The Command Output Channels message (commands 4 and/or 5) should be transmitted at least every second after the channels have been configured.  Perhaps each message sent every second but with a 500 msec delay between so that a command output channels message gets transmitted every 500 msec.


I might suggest you disable the Motor braking for testing of the operation of the PDM.
You may also try changing the soft start values.  I would suggest you try disabling the softstart delay to see if there is an effect on the operation.

If you could provide the software version of the PDM you have it would help.
The software version of the PDM is provided in response 131 (0x83)  byte 3 and 4 contain the version number as a hex binary number with byte 3 being the least significant byte.