Homemade Servo motor with h-bridge using 7i93 eth?

Hello this is my fist post!

I'm thinking of buying the 7i93 card to control my DC motor with h-bridge and with external encoder, I saw it on mesaus.com with good price.
The question is, do I need another card or can I connect directly to 7i93?
Or would it be better to buy 7I37TA to isolate?

A 7I37TA would not be good for driving PWM amps because its too slow (its intended for driving relays etc)
You can drive power circuitry directly with the 7I93 but you must be careful that you do not expose the FPGA pins to
signals <0V or >7V or you will damage the FPGA or the bus switch that provides 5V tolerance.

If you are building your own HBridge you should either isolate the PWM signals or if its a low voltage
PWM drive that has a common ground with logic ground, buffer the signals with a HCT part like a 74HCT14
with series say 100 Ohm resistors in the drive PWM inputs. This will prevent ground bumping from the drive
switching forcing nearly unlimited negative current into the FPGA pins