====== Experimental Setup with a PC with National Instruments Card ======
 
We use a regular PC (x86-64) together with a National Instrument card: PCIe - 6251 (M-Series). The card requires the //comedi// library together with the EEROS hardware wrapper, see [[eeros_architecture:hal:hardware_libraries#comedi|]]. In any case you have to install ''comedi'' separately. A maxon motor controller (50V / 5A) delivers the necessary power. 

{{ oneAxis_setup.png?688 |}}

Connect all the necessary signals according to your hardware configuration file, notably
  * analog output and enable signal to the motor controller
  * encoder outputs (A/B signals) to the decoder inputs
  * motor controller ready signal to a digital input
  * emergency button to a digital input

IMPORTANT Make sure that a positive voltage on the motor leads to the encoder counting upwards. If the opposite is the case, either change the cables or change the hardware configuration file. \\