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Hi! I figured I may have run into trouble here and thought to ask for your opinion. I got my hands on Bautz DSK-12 AC motor driver and Unitronics Samba (4.3 inch, transistor type) PLC and acquaintance of mine asked me to do some programming. Firstly, I discovered that encoder (what I have to use) is running on 5v (actually to get encoder values from driver I have to feed it 5v and not any higher). Thought that I could buy fast (50kHz) optocoupler to ramp up 5v to 24v and feed it into PLC. Secondly, I discovered that this type of motor driver takes +/-10v to change motor direction and velocity. (ex. there is 2 pins, first pin has to have ZERO aka reference voltage and other pin has to have zero to +10v OR zero to -10v, accordingly which direction user wants to motor go). I do not have any thought how to fix this one. Do I have to order some kind of additional position controller or is there something else what can I do? Bautz DSK12 datasheet: http://www.ahs-antriebstechnik.de/pdf-dateien-e/Servo Drives Servo Amplifier/Manual DSK12-gb.PDF (German version, for german friends out there: http://www.servodyntechnik.de/DSK_12_d.PDF) Help from you guys would be greatly appreciated. Greetings, Steven