Help to the soul may be the English translation of 'aux animo'. But the English translation assumes 'aux' as an abbreviation for 'auxilium'. In the word by word translation, the word 'auxilium' is a neuter noun in the nominative singular, and means 'help'. The word 'animo' is a masculine noun in the dative singular, and means 'to the soul'.
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Depending on the context, if someone says to you "animo!", it usually means "Chin up!" or "Cheer up!" It's also a way to encourage someone or cheer someone on.