Hi Sweety,
What type of measurement do you want to make with the servo motor (edge count, frequency, pulse width, etc.)? What wires are output from the servo motor? Depending on the answers to these questions it will give more information into whether you need to use the gate terminal or just the source.
I would recommend to review the User manual for the PCI-6602 (referenced below) because it has information on the pinouts (pg 31) and different application considerations. Also, the M series user manual discusses some of the different measurements (in the counter section) and how to make the proper connections.
660x User Manual
http://www.ni.com/pdf/manuals/372119a.pdf
M Series User Manual
http://digital.ni.com/manuals.nsf/websearch/2025C99AB0614F9E8625748000577B9A
Regards,
Jordan F
National Instruments