Apologies for the late reply. Assuming you already figured this out but yes the sealed pillar needs to be summoned in the abyss as that's where it would naturally spawn. Using the tower taro card outside the abyss wont do anything, nor will it consume the card. Once summoned, just beat it up and follow the advice I gave you before. I'd suggest doing this on one of the lower levels where there's more open space to move around.