Servo, 1-Axis, Dual Encoder C Series Motor Drive Interface Module—The NI‑9516 provides servo drive interface signals for a single axis, a full set of motion I/O including inputs for a home switch and limit switches, incremental encoder inputs for position feedback, and digital input lines. The NI‑9516 also includes torque and position mode control. The NI‑9516 processor runs the spline interpolation engine and proportional integral derivative (PID) control loop. Working together, the processor and PID control loop produce smoother motion, resulting in precise servo motion control.