A maxon motor controller (50V / 5A) delivers the necessary power.

• 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 Beaglebone Blue board together with the appropriate EEROS hardware wrapper, see Hardware Wrapper Libraries. Please follow the instructions in https://wiki.ntb.ch/infoportal/software/linux/beagleboneblue to install the necessary toolchain before you install EEROS.
• Our cb20 controller board (http://wiki.ntb.ch/infoportal/embedded_systems/imx6/cb#cb20_board together with http://www.flink-project.ch and the appropriate EEROS hardware wrapper, see flink.

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.
On the beaglebone blue board, you don't need a motor controller. Hence, you do not need the enable signal. Tie the ready signal to logic one.