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 comedi. In any case you have to install comedi separately. A maxon motor controller (50V / 5A) delivers the necessary power.

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

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.