Motion Control and Motor Drives

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softmotion module support in fpga mode for crio

I have a cRIO 9024/with 9118 fpga chassis, 2 NI9514 motion cards, and several analog and digital cards.  The Softmotion documentation and examples seem to be all in Scan Engine mode.  I need the analog and digital I/O in FPGA mode.  I have seen a forum posting that says it is possible to do, but have not found any documentation that indicates how.  Suggestions?
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Check out the following tutorial.


 How Do I Use the NI 951x Drive Interface Modules in FPGA Mode?



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