I'm a little surprised that anything Rockwell doesn't have a 300 page manual associated with it...
Anyhow, if you click the ultrasonic sensor link on AndyMark's website, you'll be taken to the sensor page:
http://www.ab.com/en/epub/catalogs/1...Selection.html
Which your sensor shows: Analog voltage 15…30V DC 0…10V DC 873M-D18AV300-D4
Need to give it 15-30VDC, and the output will be analog, from 0-10V DC. Since the roborio's analog in looks like it only supports 0-5V, you'll need to attenuate the voltage (figure out a way to safely scale the 0-10V to 0-5V) otherwise you'll risk frying the analog in ports.
Let me know if any of that makes sense, or if you need help with the circuit.
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