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Differential output to drive servo forward reverse

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I need help driving 10 v  differential signal to a older style DC servo control 

I have a vision 700 PLC with  a v 200 183XB

snap in module 

I have an external encoder which I am configuring into the high-speed inputs Does the hard ware provide a Output signal that operates differentially  and how do I configure this in linear conversion ?

 Any help would be great 

Barry

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