Sooooooooo many questions before this can be answered.
A DC motor doesn't generate pulses, so what are these pulses from?
Are they the PWM signal into the motor to drive it?
Is an encoder attached to the motor shaft to give velocity or position feedback?
Are the pulses TTL referenced to ground or are they floating?
What type of relays are you using? Mechanical SSR ....
What type of response time are you expecting?
Is that response time critical ? Should you be thinking of using a RT system?
Are these relays controlling a drive?
Greg Bush CLAD