National Instruments NI-Motion - Manual (Page 192)

Chapter 13 Torque Control
NI-Motion User Manual 13-2 ni.com
Tuning the control loop with a force sensor, which is an analog feedback
sensor, produces the same results as with a position feedback sensor.
Depending upon the resolution you are using, the system may require
higher gains to ensure a faster response. NI motion controllers have 12-bit
or 16-bit analog inputs, whose ranges can be set from 0 V to 5 V, –5 V to
+5 V, 0 V to 10 V, and –10 V to +10 V. When you use counts for entering
the values of position, velocity, acceleration, and deceleration, you do not
need to enter the counts/revolution value for the axis.
Refer to the motion controller user manual for information about analog
input ranges.