I'm exploring this. Trying to mate nikken 5AX to a aT10A robodrill. There is a video of one on a 16C, so I am figuring it can be done. On the motors and drives/encoders I have that covered (6066 amps and serial A encoders), but now getting to the control side I'm getting a little confused on the option boards and which ones will work together as per the connection manual (with cpu or not) . It's saying the CPU version is used with the 16TTA. Can you use it with the MA as well. Can the MA software be made to support the second processor? Anyone here ever done this? I'm a ways off from actually doing it, just trying to figure out how it is done.