I'm using a 5i20 with the PWM amps.
there's a schematic of approximately how it all fits together here:
http://www.anderswallin.net/2008/09/servo-setup/

The HAL, ini, and pyVCP files are at the end of this post
http://www.anderswallin.net/2008/04/emc2-test-run/
they may not be the very latest we use on the mill right now but they 
should be close enough.

> Anders,
> Could you please post your 7i43 HAL file to pastebin.com . I'm following in 
> your
> foot steps with a 7i43 and one of Jon's PWM AMP's. Your file could save me a 
> lot
> of time effort and posts.
> 
> Thanks,
> Roger
> 
> 
> 
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