Axis 24E2 User Manual

1^ USER MANUAL

^2 Accessory 24E2

^3 Axis Expansion Board

^4 3Ax-603397-xUxx

^5 October 10, 2003

Single Source Machine Control Power // Flexibility // Ease of Use

21314 Lassen Street Chatsworth, CA 91311 // Tel. [phone] Fax. [phone] // www.deltatau.com

Copyright Information

© 2003 Delta Tau Data Systems, Inc. All rights reserved.
This document is furnished for the customers of Delta Tau Data Systems, Inc. Other uses are

unauthorized without written permission of Delta Tau Data Systems, Inc. Information contained in
this manual may be updated from time-to-time due to product improvements, etc., and may not
conform in every respect to former issues.

To report errors or inconsistencies, call or email:

Delta Tau Data Systems, Inc. Technical Support

Phone: [phone]
Fax: [phone]
Email: [e-mail]
Website: http://www.deltatau.com

Operating Conditions

All Delta Tau Data Systems, Inc. motion controller products, accessories, and amplifiers contain
static sensitive components that can be damaged by incorrect handling. When installing or handling
Delta Tau Data Systems, Inc. products, avoid contact with highly insulated materials. Only
qualified personnel should be allowed to handle this equipment.

In the case of industrial applications, we expect our products to be protected from hazardous or
conductive materials and/or environments that could cause harm to the controller by damaging
components or causing electrical shorts. When our products are used in an industrial environment,
install them into an industrial electrical cabinet or industrial PC to protect them from excessive or
corrosive moisture, abnormal ambient temperatures, and conductive materials. If Delta Tau Data
Systems, Inc. products are directly exposed to hazardous or conductive materials and/or
environments, we cannot guarantee their operation.

Accessory 24E2

Table of Contents

INTRODUCTION.......................................................................................................................................................1

Overview...................................................................................................................................................................1

Features.....................................................................................................................................................................1

Board Configuration..................................................................................................................................................1

ACC-24E2 Power Supply Requirements ..................................................................................................................2

E-POINT JUMPER SETTINGS................................................................................................................................ 3

ACC-24E2 Base Board (Channels* 1 & 2)...............................................................................................................3

ACC-24E2 Option 1 Board (Channels 3 & 4)...........................................................................................................4

HARDWARE SETUP.................................................................................................................................................5

Position Compare Port Driver IC..............................................................................................................................5

Switch Configuration ................................................................................................................................................5

UMAC Address DIP Switch S1.............................................................................................................................5

MACRO Station Address DIP Switch S1..............................................................................................................5

ACC-24E2 Clock Settings.........................................................................................................................................6

Resistor Pack Configuration......................................................................................................................................6

Differential or Single-Ended Encoder Selection...................................................................................................6

Termination Resistors...........................................................................................................................................7

ACC-24E2 Limit and Flag Wiring............................................................................................................................7

Connecting Limits/Flags to the ACC-24E2..........................................................................................................8

Loss of Encoder Circuit.............................................................................................................................................8

ACC-24E2 Encoder Loss Detection with UMAC Turbo CPU..............................................................................8

ACC-24E2 Encoder Loss Detection with UMAC MACRO CPU..........................................................................9

CONNECTIONS.......................................................................................................................................................11

Mating Connectors..................................................................................................................................................12

Terminal Block Connectors................................................................................................................................12

DB15 Connector Option.....................................................................................................................................12

Indicators.................................................................................................................................................................12

Overall Wiring Diagram..........................................................................................................................................13

Sample Wiring Diagrams........................................................................................................................................14

TTL Level Inputs and Outputs ............................................................................................................................14

Position Limits, Home Flag, and User Flag.......................................................................................................15

ACC-24E2 Stepper Motor Outputs (TTL level)..................................................................................................15

Servo IC Configuration I-Variables ........................................................................................................................16

Servo IC Numbering...........................................................................................................................................16

Servo Channel Numbering..................................................................................................................................16

Multi-Channel I-Variables..................................................................................................................................16

Single-Channel I-Variables ................................................................................................................................17

Encoder Conversion Table I-Variables..............................................................................................................18

Motor Addressing I-Variables............................................................................................................................18

ULTRALITE/MACRO STATION SETUP............................................................................................................21

Hardware Setup for MACRO Station Use ..............................................................................................................21

Node-Specific Gate Array MI-Variables.............................................................................................................21

Encoder/Timer n Decode Control (MSn,MI910) ....................................................................................................21

Flag Capture Control (MSn,MI911-MI913)............................................................................................................22

Output Mode Select (MSn,MI916)..........................................................................................................................24

MACRO Station Encoder Conversion Table (MSn,MI120-MI151).......................................................................24

Encoder Conversion Table for ACC-24E2 at MACRO Station ..........................................................................24

MLDT FEEDBACK FOR UMAC-TURBO & UMAC-MACRO.........................................................................25

MLDT Hardware Setup of the ACC-24E2..............................................................................................................25

MLDT Software Setup of the UMAC Turbo..........................................................................................................25

Hardware Setup I-Variables for Servo IC m ......................................................................................................25

Table of Contents i

Accessory 24E2

Conversion Table Processing I-Variables..........................................................................................................26

Motor I-Variables...............................................................................................................................................26

Pulse Output Frequency.....................................................................................................................................27

PMAC2/Turbo PMAC2 Conversion Table & Motor I-variables........................................................................28

MLDT Feedback for UMAC-MACRO...................................................................................................................28

MLDT Software Setup of the UMAC MACRO....................................................................................................29

Station Hardware Setup I-Variables for Servo IC..............................................................................................29

Station Conversion Table Processing I-Variables..............................................................................................29

Station Motor Node I-Variables .........................................................................................................................30

Power-On Feedback Address for PMAC2 Ultralite...........................................................................................30

MACRO Parallel Absolute Position Setup..........................................................................................................31

CONNECTOR & TERMINAL DESCRIPTION ...................................................................................................33

Direct PWM Amplifier Connector..........................................................................................................................33

J1- PWM AMP1 ..................................................................................................................................................33

J2- PWM AMP2 ..................................................................................................................................................34

Terminal Block Option for Encoders and EQU......................................................................................................35

Connector TB1 Top – Encoder 1........................................................................................................................35

Connector TB2 Top – Encoder 2........................................................................................................................35

Connector TB3 Top – EQU Outputs...................................................................................................................35

DB15 Connector Option for Encoders and EQU....................................................................................................36

Connector J1 Top - Encoder 1 / EQU ................................................................................................................36

Connector J2 Top - Encoder 2 / EQU ................................................................................................................36

Flag and User Flag Terminal Block Inputs .............................................................................................................37

Connector TB1 Front- Limits 1 ..........................................................................................................................37

Connector TB2 Front- Limits 2 ..........................................................................................................................37

SCHEMATICS..........................................................................................................................................................39

ii Table of Contents

Accessory 24E2

INTRODUCTION

Overview

The ACC-24E2 Axis Expansion Board provides two or four channels of PMAC2-style direct PWM servo
interface circuitry for UMAC and Ultralite/MACRO Station controllers. The ACC-24E2 is part of the
UMAC family of expansion cards and these accessory cards are designed to plug into an industrial 3U
rack system. The information from these accessories is passed directly to either the UMAC or MACRO
Station CPU via the high speed UBUS expansion bus. Other axis or feedback interface UBUS
accessories include the following:

ACC-14E

ACC-24E2

ACC-24E2A

ACC-24E2S

ACC-28E
ACC-51E
ACC-53E

Up to eight ACC-24E2x boards can be connected to one UMAC providing up to 32 additional channels of
servo interface circuitry. Because each MACRO Station CPU can service only eight channels of servo
data, only two ACC24E2x boards can be connected to the MACRO-Station. The new MACRO 16-Axis
CPU can support four ACC-24E2x cards.

The ACC-24E2 board contains no processor; it has one highly integrated 4-channel PMAC2-style Servo
IC with the buffering circuitry and connectors around them. The two-axis ACC-24E2 plugs into the
backplane and uses one slot in the Rack. If two more axes are needed, ACC-24E2 Option 1 can be
plugged into the ACC-24E2 connectors. The ACC-24E2 with its Option 1 card takes up a total of two
slots.

Parallel Feedback Inputs (absolute enc. or interferometers)
Digital Amplifier Breakout w/ TTL encoder inputs
Analog Amplifier Breakout w/ TTL encoder inputs
Stepper Amplifier Breakout w/ TTL encoder inputs
16-bit A/D Converter Inputs (up to four per card)
4096 times interpolator for 1Vpp sinusoidal encoders
SSI encoder interface (up to 8 channels)

Features

The ACC-24E2 board can be used with any UMAC or MACRO Station CPU, interfacing through the
UBUS.

The ACC-24E2 supports both Direct PWM servo and PFM stepper interfaces:

•

Direct digital pulse-width modulated (PWM) phase voltage commands

•

Pulse-and-direction commands

Board Configuration

An ACC-24E2 comes standard with one Servo IC providing four servo interface channels, which are
brought out on terminal blocks and mini D-Sub connectors. Two of these channels are brought out on the
single-board base configuration.

Each channel of servo interface circuitry includes the following:

•

Two output command signal sets, configurable as either:

•

One pulse-and-direction

•

Three PWM top-and-bottom pairs

•

AB-Quadrature and Index pulse differential/single-ended encoder input

•

Nine input flags, two output flags

•

Interface to two external serial ADCs, 8 to 18 bits, for current loop feedback

Introduction 1

Accessory 24E2

Option 1D: If Option 1D Piggyback Board is ordered, the circuitry and input/output connectors are
provided for the third and fourth channels associated with the Servo IC on the main ACC-24E2.

ACC-24E2 Power Supply Requirements

The following table lists the power requirements for the entire ACC-24E2 family of products for the
UMAC-Turbo and UMAC-MACRO. Because of the flexibility of these products, the power
requirements for all ACC-24E products are listed.

Product 5V 12V for DACs -12V for DACs 12V-24V for Flag Circuits

ACC-24E2 700mA N/A N/A
ACC-24E2 opt. 1 200mA N/A N/A
ACC-24E2A 800mA 200mA 200mA
ACC-24E2 opt. 1A 200mA 200mA 200mA
ACC-24E2S 600mA N/A N/A

2 Introduction

Accessory 24E2

E-POINT JUMPER SETTINGS

ACC-24E2 Base Board (Channels* 1 & 2)

Jumper Configuration Description Default

E1A 1-2 No Jumper for TTL Level input for CHU1 flag

Jumper 1-2 for DIR1+ output in Stepper Mode

E1B 1-2 No Jumper for TTL Level input for CHV1 flag

Jumper 1-2 for DIR1- output in Stepper Mode

E1C 1-2 No Jumper for TTL Level input for CHW1 flag

Jumper 1-2 for PUL1+ output in Stepper Mode

E1D 1-2 No Jumper for TTL Level input for CHT1 flag

Jumper 1-2 for PUL1- output in Stepper Mode

E2A 1-2 No Jumper for TTL Level input for CHU2 flag

Jumper 1-2 for DIR2+ output in Stepper Mode

E2B 1-2 No Jumper for TTL Level input for CHV2 flag

Jumper 1-2 for DIR2- output in Stepper Mode

E2C 1-2 No Jumper for TTL Level input for CHW2 flag

Jumper 1-2 for PUL2+ output in Stepper Mode

E2D 1-2 No Jumper for TTL Level input for CHT2 flag

Jumper 1-2 for PUL2- output in Stepper Mode

E5 1-2-3 Jump 1-2 for Turbo 3U CPU and MACRO C P U

E7 1-2 No jumper to not tie D-shell to chassis ground

E8 1-2 No jumper to not tie D-shell to chassis ground

E10 1-2-3 Jump 1-2 for high true fault AMP1

E11 1-2-3 Jump 1-2 for high true fault AMP2

E13 1-2-3 Jump 1-2 to receive phase and servo clocks

E111 1-2 No jumper for direct PWM mode axis 1

E112 1-2 No jumper for direct PWM mode axis 2

* The channels refer to the Servo IC associated with the ACC-24E2 base board. For example, an 8-axis

application would have two ACC-24E2s wi t h opt ion 1. The first ACC-24E2 would have axes 1-4 and
the second ACC-24E2 would contain axes 5-8.

** For legacy MACRO Stations (part number 602804-100 thru 602804-104)

** Jump 2-3 for legacy MACRO CPU (before 6/00)

Jump 1-2 to tie J1 D-Shell to chassis ground

Jump 1-2 to ground J2 D-Shell to Chassis Ground

Jump 2-3 for low true fault AMP1

Jump 2-3 for low true fault AMP2

Jump 2-3 to transmit phase and servo clocks

Jump 1-2 for pulse and direction mode axis 1

Jump 1-2 for pulse and direction mode axis 2

No jumper

No jumper

No jumper

No jumper

No jumper

No jumper

No jumper

No jumper

Jump 1-2

No Jumper

No Jumper

Jump 2-3

Jump 2-3

Factory set

No jumper

No jumper

E-Point Jumper Settings 3

Accessory 24E2

ACC-24E2 Option 1 Board (Channels 3 & 4)

Jumper Configuration Description Default

E1A 1-2 No Jumper for TTL Level input for CHU3 flag

Jumper 1-2 for DIR3+ output in Stepper Mode

E1B 1-2 No Jumper for TTL Level input for CHV3 flag

Jumper 1-2 for DIR3- output in Stepper Mode

E1C 1-2 No Jumper for TTL Level input for CHW3 flag

Jumper 1-2 for PUL3+ output in Stepper Mode

E1D 1-2 No Jumper for TTL Level input for CHT3 flag

Jumper 1-2 for PUL3- output in Stepper Mode

E2A 1-2 No Jumper for TTL Level input for CHU4 flag

Jumper 1-2 for DIR4+ output in Stepper Mode

E2B 1-2 No Jumper for TTL Level input for CHV4 flag

Jumper 1-2 for DIR4- output in Stepper Mode

E2C 1-2 No Jumper for TTL Level input for CHW4 flag

Jumper 1-2 for PUL4+ output in Stepper Mode

E2D 1-2 No Jumper for TTL Level input for CHT4 flag

Jumper 1-2 for PUL4- output in Stepper Mode

E7 1-2 No jumper to not tie D-shell to chassis ground

Jump 1-2 to tie J1 D-Shell to chassis ground

E8 1-2 No jumper to not tie D-shell to chassis ground

Jump 1-2 to ground J2 D-Shell to Chassis Ground

E10 1-2-3 Jump 1-2 for high true fault AMP3

Jump 2-3 for low true fault AMP3

E11 1-2-3 Jump 1-2 for high true fault AMP4

Jump 2-3 for low true fault AMP4

E111 1-2 No jumper for direct PWM mode axis 3

Jump 1-2 for pulse and direction mode axis 3

E112 1-2 No jumper for direct PWM mode axis 4

Jump 1-2 for pulse and direction mode axis 4

No jumper

No jumper

No jumper

No jumper

No jumper

No jumper

No jumper

No jumper

No Jumper

No Jumper

Jump 2-3

Jump 2-3

No jumper

No jumper

4 E-Point Jumper Settings

Accessory 24E2

HARDWARE SETUP

Position Compare Port Driver IC

As with the other PMAC controllers, the UMAC has the high speed compare outputs which allows firing
an output based on position. This circuit will fire within 100 nsec of reaching the desired position. The
position compare output port on the ACC-24E2 and its Option 1 daughter card has a socketed driver IC in
a 8-pin DIP socket at component U27. This IC gives a fast CMOS driver.

The following table lists the properties of each driver IC:

Part # of

Pins

DS75451N 8 5V, 10 mA Totem-Pole

Max Voltage &

Current

Output Type Max

Frequency

5 MHz 1-2

(CMOS)

E11, E12

Setting

Switch Configuration

UMAC Address DIP Switch S1

S1, S1-3, S1-4 are used to address the ACC-24E2 as shown in the table below.

S1-1 S1-3 S1-4 Board No. IC No. I-Var. Range Base Address

ON ON ON 1 2 I7200 $078200

OFF ON ON 2 3 I7300 $078300

ON OFF ON 3 4 I7400 $079200

OFF OFF ON 4 5 I7500 $079300

ON ON OFF 5 6 I7600 $07A200

OFF ON OFF 6 7 I7700 $07A300

ON OFF OFF 7 8 I7800 $07B200

OFF OFF OFF 8 9 I7900 $07B300

S1-2, S1-5, and S1-6 are used to determine whether the ACC-24E2 is communicating to a Turbo 3U
PMAC or a MACRO Station CPU.

S1-2 S1-5 S1-6 Function

ON ON ON 3U Turbo PMAC Use

MACRO Station Address DIP Switch S1

S1-1, S1-2, S1-3, S1-4 are used to address the ACC-24E2 as shown in the table below.

S1-1 S1-2* S1-3 S1-4 Board No. IC No. Base Address

ON ON OFF OFF 1 2 $00C040

OFF OFF OFF OFF 2 3 $00C060

* Always set to OFF for legacy MACRO Stations (part number 602804-100 through 602804-104)

S1-5 and S1-6 are used to determine whether the ACC-24E2 is communicating to a Turbo 3U PMAC or a
MACRO Station CPU.

S1-5 S1-6 Function

OFF OFF 3U MACRO Station use

Hardware Setup 5

Accessory 24E2

ACC-24E2 Clock Settings

The Phase Clock and Servo Clock must be configured on each ACC-24E2x base board. Each system can
have only one source for the servo and phase clocks and jumpers must be set appropriately to avoid a
timing conflict or a watchdog condition.

Starting in UMAC-Turbo firmware version 1.937, the firmware will set the clock settings automatically
for the ACC-24E2 cards in the UBUS. To enable this feature, set jumper E13 from 2 to 3 for all of the
ACC-24E2s plugged into the UMAC. At re-initialization (either $$$*** command or power up with E3
jumpered on UMAC), the firmware will know that all of the cards are in the auto configuration setup and
will assign the card with the lowest base address setting (usually $78200) the task of sourcing the clocks
by setting variable I19 to the appropriate register. The clocks will be set initially to the factory default
servo update cycle and phase clock cycle. For a better understanding of this feature, refer to description
of I19 in the Turbo Software Reference Manual.

For UMAC Turbo systems with firmware older than version 1.937, set one of the ACC-24E2s to transmit
(E13 set 2-3) the phase and servo clock (usually the card at the lowest base address setting) and the rest of
the ACC-24E2s to receive (E13 set 1-2) the phase and servo clocks.

For MACRO systems, the clock select jumper should be set to receive servo and phase clocks. For the
ACC-24E2, E13 should be set 1-2.

Resistor Pack Configuration

Differential or Single-Ended Encoder Selection

The differential input signal pairs to the PMAC have user-configurable pull-up/pull-down resistor
networks to permit the acceptance of either single-ended or differential signals in one setting, or the
detection of lost differential signals in another setting.

•

The ‘+’ inputs of each differential pair each have a hard-wired 1 kΩ pull-up resistor to +5V. This
cannot be changed.

•

The ‘-’ inputs of each differential pair each have a hard-wired 2.2 kΩ resistor to +5V; also each has
another 2.2 kΩ resistor as part of a socketed resistor pack that can be configured as a pull-up resistor
to +5V, or a pull-down resistor to GND.

If this socketed resistor is configured as a pull-down resistor (the default configuration), the combination
of pull-up and pull-down resistors on this line acts as a voltage divider, holding the line at +2.5V in the
absence of an external signal. This configuration is required for single-ended inputs using the ‘+’ lines
alone; it is desirable for unconnected inputs to prevent the pick-up of spurious noise; it is permissible for
differential line-driver inputs.

If this socketed resistor is configured as a pull-up resistor (by reversing the SIP pack in the socket), the
two parallel 2.2 kΩ resistors act as a single 1.1 kΩ pull-up resistor, holding the line at +5V in the absence
of an external signal. This configuration is required if encoder-loss detection is desired; it is required if
complementary open-collector drivers are used; it is permissible for differential line-driver inputs even
without encoder loss detection.

If Pin 1 of the resistor pack (marked by a dot on the pack) matches Pin 1 of the socket (marked by a wide
white square solder pin on the front side of the board), then the pack is configured as a bank of pull-down
resistors. If the pack is reversed in the socket, it is configured as a bank of pull-up resistors.

The following table lists the pull-up/pull-down resistor pack for each input device:

6 Hardware Setup

Device Resistor Pack Pack Size

Encoder 1 RP22 6-pin

Accessory 24E2

Encoder 2 RP24 6-pin
Encoder 3 RP22 6-pin
Encoder 4 RP24 6-pin

Termination Resistors

The ACC-24E2A provides sockets for termination resistors on differential input pairs coming into the
board. As shipped, there are no resistor packs in these sockets. If these signals are brought long distances
into the ACC-24E2A board and ringing at signal transitions is a problem, SIP resistor packs may be
mounted in these sockets to reduce or eliminate the ringing.

All termination resistor packs have independent resistors (no common connection) with each resistor
using two adjacent pins.

Channel Specific Resistor Packs

Channel 1 Channel 2 SIP Description

RP22 RP24 2.2KΩ Reverse resistor pack for encoder loss feature (for differential

encoders only)
RP23 RP25
RP45 RP46

220Ω

1KΩ

UBUS Specific Resistor Packs

Termination resistor to reduce ringing (not installed by default).

Install for 5V limits

Resistor Pack SIP Description

RP5
RP6

220Ω

2.2KΩ

Terminator (not installed, only used for non-UBUS)
Pull Down for Old MACRO CPU

Pull Up for UMAC Turbo & MACRO

ACC-24E2 Limit and Flag Wiring

The ACC-24E2 allows the use of sinking or sourcing position limits and flags to the controller. The opto­isolator IC used is a PS2705-4NEC-ND quad photo-transistor output type. This IC allows the current to
flow from return to flag (sinking) or from flag to return (sourcing).

A sample of the positive limit circuit is shown below. The 4.7K resistor packs used will allow 12-24V
flag inputs. If 0-5V flags are used, then a 1KΩ resistor pack (RP) can be placed in either RP45 or RP46
(refer to the Resistor Pack Configuration section of this manual). If these resistor packs are not added, all
flags (±Limits, Home, User, and amplifier fault) will be referenced from 0-5V.

Hardware Setup 7

Accessory 24E2

Connecting Limits/Flags to the ACC-24E2

The following diagram illustrates the sinking and sourcing connections to an ACC-24E2. this example
uses 12-24V flags.

Sinking,

Separate

Supply

Sourcing,

Separate

Supply

Loss of Encoder Circuit

The encoder-loss detection circuitry works for differential incremental encoders only. In proper
operation, the digital states of the complementary inputs for a channel (e.g. A and A/) should always be
opposite: when one is high, the other is low. If for some reason, such as a cable connection coming
undone, one or more of the signal lines is no longer driven, pull-up resistors on the input line pull and
hold the signal high.

The encoder-loss detection circuitry uses exclusive-or (XOR) gates on each complementary pair to detect
whether the signals are in the same or opposite states. These results are combined to produce a single
encoder-loss status bit that the processor can read.

This technique requires that both signal lines of the pair have pull-up resistors. Note that this is not the
default configuration of a PMAC as it is shipped. The complementary lines (A/ and B/) are pulled to

2.5V in a voltage-divider configuration as shipped to be able to accept both single-ended and normal
differential inputs. This must be changed to a pull-up configuration which involves reversing a socketed
resistor pack on the ACC-24E2A.

ACC-24E2 Encoder Loss Detection with UMAC Turbo CPU

Channel Resistor

Pack

1 RP22 Y:$07xF08,5 Y:$07xF0C,5 QL_1- 0
2 RP24 Y:$07xF09,5 Y:$07xF0D,5 QL_2- 0
3 RP22** Y:$07xF0A,5 Y:$07xF0E,5 QL_3- 0

4 RP24** Y:$07xF0B,5 Y:$07xF0F,5 QL_4- 0
*The x digit in this hex address matches the value (8, 9, A, or B) in the fourth digit from the right in the
board’s own base address (e.g. $079200). If alternate addressing of Servo ICs is used (e.g. Servo IC 2*),
add $20 to these addresses.
**These resistor packs are on the Option 1A piggyback board (if present) of the module, not on the
baseboard.

Status Bit Address

(Even-Numbered

Servo IC)*

Status Bit Address

(Odd-Numbered

Servo IC)*

Status Bit

Name

Bit Error

State

8 Hardware Setup

Accessory 24E2

ACC-24E2 Encoder Loss Detection with UMAC MACRO CPU

Channel Resistor

Pack

Status Bit

Address (First-

Status Bit Address

(Second Servo IC)*

Status Bit

“Name”

Servo IC)*

1 RP22 Y:$B8C8,5 Y:$B8CC,5 QL_1- 0
2 RP24 Y:$B8C9,5 Y:$B8CD,5 QL_2- 0
3 RP22** Y:$B8CA,5 Y:$B8CE,5 QL_3- 0

4 RP24** Y:$B8CB,5 Y:$B8CF,5 QL_4- 0
*First Servo IC has base address $C040; second Servo IC has base address $C060
**These resistor packs are on the Option 1A piggyback board (if present) of the module, not on the base
board.

Bit Error

State

Hardware Setup 9

Accessory 24E2

10 Hardware Setup