104-QUAD-8 User Manual - ACCES I/O Products, Inc.
Contents
1. 14 Reading the FLAG 14 Writing to the RLD Reset and Load Signal 244042 1 1 15 Writing to the CMR Counter Mode 15 Writing to the IOR Input Output Control Register 0 15 Writing to the IDR Index Control 16 Working with Interrupts 16 Reading the Interrupt Status Register 10 16 Writing to the Channel Operation Register 11 16 Writing to the Index Interrupt Register 12 17 Selecting the Slow Filter Clock 13h Optional 17 Selecting the Fast Filter Clock 14h Optional 17 Reading Index Input Levels 16h ener 17 e 17 Reading the CPLD Revision Register 18 17 Sample Code C DOS deb g exe cete Datei tete ld re eate o rea ee na edge 18 Chapter 6 Connector Pin Assignments2. 2 2 2 19 Table 6 1 Connector Pin Assignments 2 19 Table 6 2 Connector Pin Assignments 3 0 24 000 20 Safed gargs p mene nee er 21 Customer Comments 22 4 Manual 104 QUAD 8 Chapter 1 Introduction Features Up to eight quadrature encoders be connected Input conditioning per channel allows a variety of encoder types to be used Interrupt for an encoder index is program enabled per channel Outputs to computer can include count direction of movement 24 bit counters for each input channel 5V supply available to the user Applications Automatic Test Systems Laboratory Automation Robotics Machine Control Security Systems Energy Management Functional Description The card is a general purpose Quadrature Encoder Counter Interface board It is provided in the popular PC 104 format and conditions and monitors the outputs of 8 encoders Available functions include anything that can be programmed into the versatile LSI CSI LS7266R1 integrated circuit Core functions handled by the LS7266R1 includes direction and total count By performing these functions on board it frees the computer for higher level applications The ability to provide an interrupt for the index frees the computer from the nec
3. 2 8 CD Mis tea Ath On me Geeta 8 DOS i seed 8 WINDOWS S 8 Hjj c 8 Installing the HardWate reete expect pa 9 ToInstall the Board roo e TIERE aeta 9 Figure 2 1 PC 104 Key 9 Chapter 3 Option M w 10 Figure 3 1 Setup Configuration 40 00100 0 cae 10 Chapter 4 Address 11 Table 4 1 Hex 0 222 2 nein esp d e da aD eaa EAE Ede D Ee a 11 Table 4 2 Hex Conversion 12 Chapter 5 13 Table 5 1 Base Address eot ite Pei tate nt ER Sup Xa 13 Data Registers 0 2 4 8 A tet eee Rx eeu xao oae Fe PAR nea 14 Control Registers 1 3 5 7 9 B D
4. A Positive Input 132 4 Quadrature B Positive Input 34 No connection 3 Alp n5 O 09 O AINO t C I ETTTELPITPPEPPIPLPIT S Table 6 1 Connector Pin Assignments P2 Notes 1 When using single ended Encoders leave the Negative Input open internal 2 5V bias level and connect the Encoder A B Index output lead to the corresponding Positive Input pin 2 Both single ended and differential Encoders require a ground connection between the Encoder and the PC 104 board to eliminate the adverse effects of exceeding the common mode range 3 If your encoder does not have an index signal the Index Positive Input pin needs to be grounded 19 Manual 104 QUAD 8 Function CH Pin gt Quadrature B Negative Input 7 7 Grund 6 9 Index Negative Input 6 Quadrature A Negative Input 6 13 6 3 7 Quadrature Negative Input Ground 8 25 Index Negative Input 8 27 Quadrature A Negative Input 8 29 Quadrature B Negative Input 8 31 No connection 33 Oo s s Q2 ndex Positive Input Index Positive Input Quadrature A Positive Input 32 8 Quadrature B Positive Input 34 No connection Pin CH 6 5 Eze 10 6 12 6 14 6 16 6 26 8 28 8 30 8 Table 6 2 Connector Pin Assignments Notes 1 Wh
5. channels 1 through 8 Logic 0 Index Input low false Logic 1 Index Input high true If your encoder does not have an Index signal the Index Positive Input pin needs to be grounded or the corresponding channel bit will return a logic 1 level Reading the CPLD Revision Register 18h To determine the CPLD Revision read from address 18h Old card revisions B10 and earlier will read FF Revision C1 cards will read 00 Revision C2 cards will read 01 17 Manual 104 QUAD 8 Sample Code C DOS debug exe Channel 1 setup 030115 300 00 300 00 300 00 030128 030159 o 301 63 o 311 05 o 311 04 031201 Channel 1 data 24 bit and flags 8 bit card interrupt status 8 bit 030111 1300 1300 1300 1301 1310 o 311 04 repeat above 7 commands while turning encoder 18 Manual 104 QUAD 8 Chapter 6 Connector Pin Assignments Pin uadrature A Negative Input uadrature B Negative Input Ground 2 19 ndex Negative Input uadrature A Negative Input uadrature B Negative Input round ndex Negative Input uadrature A Negative Input uadrature B Negative Input ndex Negative Input uadrature A Negative Input Quadrature B Negative Input No connection 33 CH Quadrature A Positive Input Quadrature B Positive Input Fused 5V ndex Positive Input Quadrature A Positive Input Quadrature B Positive Input Fused 5V Quadrature A Positive Input Quadrature B Positive Input Fused 5V dex Positive Input uadrature
6. decoder PC 104 board 104 QUAD 4 Four channel quadrature decoder PC 104 board Model Options T Extended operating temperature of 40 to 85 C F Higher frequency FCK of 33 300 MHz DF Differential filter of 1200 in series with 4700pF per channel RoHS This product is available in a RoHS compliant version Please call for specific pricing then be sure to add this suffix to the model number on any hard copy or verbal purchase orders 6 Manual 104 QUAD 8 Included with your board The following components are included with your shipment depending on options ordered Please take the time now to ensure that no items are damaged or missing e PC 104 quadrature board e Software Master CD e Quick Start Guide Optional Accessories C104 34F 12 Ribbon cable assembly 12 with 34 pin female headers on each end STB 34 Screw terminal board 34 pin male header DIN SNAP6 DIN rail mounting for one STB 34 104 HDW KIT x PC 104 mounting hardware kit includes standard 4 40 x S for standard x M for metric standoffs and pan head phillip screws for securing into 104 stack 7 Manual 104 QUAD 8 Chapter 2 Installation A printed Quick Start Guide QSG is packed with the board for your convenience If you ve already performed the steps from the QSG you may find this chapter to be redundant and may skip forward to begin developing your application The software provided with this PC 104 Board is on CD and must be inst
7. up down combo Differential filter 1200 in series with 4700pF LS7266R1 24 bit Dual Axis Quadrature Counter 4 3 MHz maximum 57 ns min 115 ns min 85 ns min PC 104 Bus OSC 14 318 MHz Optional 33 300 MHz oscillator available CPLD Jumper selectable 2 7 10 12 15 FLG1 outputs from LS7266R1s ISA bus address is set by jumpers 100 3E0h 0 C to 70 C optional 40 C to 85 C 50 C to 120 C up to 95 RH non condensing 21 Manual 104 QUAD 8 Customer Comments If you experience any problems with this manual or just want to give us some feedback please email us at manuals accesio com Please detail any errors you find and include your mailing address so that we can send you any manual updates ACCES 1 0 PRODUCTS INC 10623 Roselle Street San Diego CA 92121 Tel 858 550 9559 FAX 858 550 7322 www accesio com 22 Manual 104 QUAD 8
8. ACCES 1 0 PRODUCTS INC 10623 Roselle Street E Diego CA 92121 858 550 9559 858 550 7322 ontactus accesio com www accesio com MODEL 104 QUAD 8 MODEL 104 QUAD 4 EIGHT AND FOUR CHANNEL QUADRATURE INPUT PC 104 BOARDS USER MANUAL File M104 QUAD 8 D1 Notice The information in this document is provided for reference only ACCES does not assume any liability arising out of the application or use of the information or products described herein This document may contain or reference information and products protected by copyrights or patents and does not convey any license under the patent rights of ACCES nor the rights of others IBM PC PC XT and PC AT are registered trademarks of the International Business Machines Corporation Printed in USA Copyright 2002 2005 by ACCES I O Products Inc 10623 Roselle Street San Diego 92121 All rights reserved WARNING ALWAYS CONNECT AND DISCONNECT YOUR FIELD CABLING WITH THE COMPUTER POWER OFF ALWAYS TURN COMPUTER POWER OFF BEFORE INSTALLING A BOARD CONNECTING AND DISCONNECTING CABLES OR INSTALLING BOARDS INTO A SYSTEM WITH THE COMPUTER OR FIELD POWER ON MAY CAUSE DAMAGE TO THE I O BOARD AND WILL VOID ALL WARRANTIES IMPLIED OR EXPRESSED 2 Manual 104 QUAD 8 Warranty Prior to shipment ACCES equipment is thoroughly inspected and tested to applicable specifications However should equipment failure occur ACCES assures its customers that prompt se
9. adrature times 2 Set both bits high to use Quadrature times 4 Set bit 5 high and bit 6 low Set high to program both counters simultaneously Writing to the IOR Input Output Control Register Bit 0 Bit 1 Bit 2 Bits 3 amp 4 Bits 5 amp 6 Bit 7 Set high to enable A and B inputs Set low to preset count when Index occurs Set high to continuously count Set low Set both bits low to use FLG1 as Carry active low Set bit 3 high to use FLG1 as Compare active low Set bit 4 high to use FLG1 as Carry Borrow active low Set both bits high to use FLG1 as Index active high Set bit 5 low and bit 6 high Set high to program both counters simultaneously Note that when Interrupts are enabled on the card they occur whenever FLG1 is active 15 Manual 104 QUAD 8 Writing to the IDR Index Control Register Bit 0 Set high to enable index Bit 1 Set high for a positive index polarity Set low for a negative index polarity Bit 2 Set low Bits 3 amp 4 Not used Bits 5 amp 6 Set high Bit 7 Set high to program both counters simultaneously Working with Interrupts Reading the Interrupt Status Register 10h When an interrupt occurs read from address 10h to determine which channel was the source Bit 0 7 The Least Significant Bit will correspond to the first channel High true Writing to the Channel Operation Register 11h Any write to this address will clear any pending int
10. alled onto your hard disk prior to use To do this perform the following steps as appropriate for your operating system Substitute the appropriate drive letter for your CD ROM where you see d in the examples below CD Installation The following instructions assume the CD ROM drive is drive D Please substitute the appropriate drive letter for your system as necessary DOS 1 Place the CD into your CD ROM drive 2 Type 21 14 to change the active drive to the CD ROM drive 3 Type UNa to run the install program 4 Follow the on screen prompts to install the software for this board WINDOWS 1 Place the CD into your CD ROM drive 2 The system should automatically run the install program If the install program does not run promptly click START RUN and type click OK or press 3 Follow the on screen prompts to install the software for this board LINUX 1 Please refer to linux htm on the CD ROM for information on installing under linux 8 Manual 104 QUAD 8 Installing the Hardware Before installing the board carefully read Chapter 3 and Chapter 4 of this manual and configure the board according to your requirements The SETUP Program can be used to assist in configuring jumpers on the board Be especially careful with Address Selection If the addresses of two installed functions overlap you will experience unpredictable computer behavior To help avoid this problem refer to the FINDBASE EXE program i
11. d device that is easily configured from any language and any language can easily perform quadrature reads This is especially true if the form of the data is byte or word wide All references to the I O ports would be in absolute port addressing However a table could be used to convert the byte or word data ports to a logical reference Please refer to the chip specification for the LS7266R1 in addition to this user manual for guidance and information helpful to write device drivers for it this spec sheet is on the software CD located ChipDocs Also the source code for Windows shows how to write device drivers for this product Port Assignment Operation Device Base Address Channel 1 Data Read Write Read Write Second 1872661 Base Address 8 Channel 5 Data Read Write Third LS7266R1 Base Address C Channel 7 Data Read Write Fourth 18726681 Base Address 11 Channel Operation Register Read Write First LS7266R1 Base Address 12 Index Interrupt Register Read Write Base Address 13 Optional Select 130 078 kHz FCK Write Only Base Address 14 Optional Select 33 300 MHz FCK Write Only Base Address 15 Reserved for Factory Use N A Base Address 16 Index Input Levels Read Only Base Address 18 CPLD Revision Read Only Base Address 19 through 1F Reserved for Factory Use Table 5 1 Base Address Map 13 Manual 104 QUAD 8 Data Registers 0 2 4 8 A C E h These registers are read to retrieve the curre
12. e 4 1 Hex Ranges 11 Manual 104 QUAD 8 The board s base address is set by JUMPERS Those jumpers control address bits A5 through 9 Lines 4 2 1 and 0 are used on the board to control individual registers How these four lines are used is described in the Programming section of this manual To determine how to set these JUMPERS for a desired hex code address refer to the SETUP program provided with the board If you prefer to determine proper jumper settings yourself first convert the hex code address to binary form Then for each 0 install corresponding jumpers and for each 1 remove the corresponding jumper The following example illustrates jumper selection corresponding to hex 300 or binary 11 000x xxxx The x xxxx represents address lines A4 A3 A2 A1 and AO used on the board to select individual registers as described in the Programming section of this manual Base Address in Hex Code 3 0 Conversion Factors 2 1 8 4 2 Binary Representation 1 1 0 0 0 Jumper Legend A9 A8 A7 A6 A5 Addr Line Controlled A9 A8 A7 A6 A5 Jumper Selection OFF OFF ON ON ON Table 4 2 Hex Conversion Table Carefully review the address selection reference table on the preceding page before selecting the board address If the addresses of two installed functions overlap you will experience unpredictable computer behavior 12 Manual 104 QUAD 8 Chapter 5 Programming The card is an l O mappe
13. en using single ended Encoders leave the Negative Input open and connect the Encoder A B Index output lead to the corresponding Positive Input pin 2 Both single ended and differential Encoders require a ground connection between the Encoder and the PC 104 board to eliminate the adverse effects of exceeding the common mode range 3 If your encoder does not have an index signal the Index Positive Input pin needs to be grounded 20 Manual 104 QUAD 8 Chapter 7 Specification Power Consumption 5 Volts 5 V Fused Outputs npu Section Receiver Type Configuration per Encoder Number of Channels Common mode input range Differential Input Range Sensitivity Hysteresis Impedance Bias Options eonnter Section Counter Type Quadrature Clock Frequency Quadrature Separation Quadrature Clock Pulse Width Index Pulse width Filter Clock FCK Interrupt Controller Section Controller Type Interrupts Interrupt Sources Addressing Environmental Operating Temperature Storage Temperature Humidity 260mA typical no load on 5V fused output pins Two 0 5A Resettable fuses AM26LS32 Phase A Phase B and Index as Differential Pairs 8 7 V maximum 25 V maximum Differential voltage values are at the noninverting A input terminals with respect to the inverting B input terminals 200 mV 50 mV typical 12 minimum Positive pins 5V via 4 7kQ pull ups Negative pins 2 5V via pull
14. errupts A read from this address will return it s contents 0 Set high to reset all Counters Set low to enable all Counters Bit1 Reserved Bit 2 Set low to disable the interrupt function Set high to enable the interrupt function Bits 3 7 Reserved 16 Manual 104 QUAD 8 Writing to the Index Interrupt Register 12h This register is used to Preset Counter via the LCNTR input pin when a channel index occurs as described in Writing to the IOR and Writing to the IDR Additionally it is used to generate interrupts whenever FLG1 on a channel is active as described in Writing to the IOR and Writing to the Channel Operation Register Each bit of this register enables disables a corresponding channel A read from this address will return it s contents Bit 0 Set high to enable Channel 1 Bit 1 Set high to enable Channel 2 Bit 2 Set high to enable Channel 3 Bit 3 Set high to enable Channel 4 Bit 4 Set high to enable Channel 5 Bit 5 Set high to enable Channel 6 Bit 6 Set high to enable Channel 7 Bit 7 Set high to enable Channel 8 Selecting the Slow Filter Clock 13h Optional Select 130 078 kHz by writing any value to this address Selecting the Fast Filter Clock 14h Optional Select 33 300 MHz FCK by writing any value to this address default 14 318 MHz is the Filter Clock frequency without the F fast FCK factory option Reading Index Input Levels 16h Bit 0 through 7 correspond to
15. essity of constantly reading the position of an encoder Interrupts are directed to levels 2 through 7 10 through 12 and 15 by jumper installation The card is designed for industrial applications Each input line is buffered and capable of accepting inputs up to 6 volts A 5 Volt source is available to provide power for many encoder types The conditioned inputs are connected to associated LSI CSI LS7266R1 integrated circuits These circuits are the heart of the card s operation We strongly recommend reviewing the manufacturer s data sheet for detailed information The card occupies 32 bytes of I O address space The base address is selectable via jumpers anywhere within the range of 100 3E0 hex An illustrated setup program is provided with the card Interactive displays show locations and proper settings of jumpers to set up board address and interrupt levels 5 Manual 104 QUAD 8 SPECIAL NOTE FOR PROGRAMMERS The language not recommended for programming interrupt service routines is any version of Visual BASIC The recommended programming languages for IRQ based applications are Delphi and C Builder DIFFERENTIAL QUADRATURE LINE COUNTERS RECEIVERS LS7266R1 PC 104 BUS ENCODERS 4 AXIS PER CONNECTOR AM26LS32 INCREMENTAL QUADRATURE DUAL 34 PIN HEADER CONNECTORS JUMPER JUMPER SELECTED SELECTED ADDRESS IRQ Figure 1 1 Block Diagram Ordering Guide 104 QUAD 8 Eight channel quadrature
16. etup via software Interrupts are directed to levels 2 through 7 10 through 12 and 15 by a jumper at locations labeled IRQ2 through IRQ7 IRQ10 through IRQ12 and IRQ15 0 20 3 775 Figure 3 1 Setup Configuration Map 10 Manual 104 QUAD 8 Chapter 4 Address Selection The card occupies 32 bytes of I O space card base address be selected anywhere within the I O address range 100 3E0 hex If in doubt of where to assign the base address refer to the table below and the FINDBASE program HEX RANGE USAGE 000 00F 020 021 040 043 060 06F 070 07F 080 09F 0CO 0DF OFO OF 1 OF8 OFF 170 177 1F0 1F8 200 207 238 23B 23C 23F 278 27F 2B0 2BF 2C0 2CF 2D0 2DF 2E0 2E7 2E8 2EF 2F8 2FF 300 30F 310 31F 320 32F 370 377 378 37F 380 38F 3A0 3AF 3B0 3BB 3BC 3BF 3 0 3 3D0 3DF 3E8 3EF 3F0 3F7 3F8 3FF 8237 DMA Controller 1 8259 Interrupt 8253 Timer 8042 Keyboard Controller CMOS RAM NMI Mask Reg RT Clock DMA Page Register 8259 Slave Interrupt Controller 8237 DMA Controller 2 Math Coprocessor Math Coprocessor Fixed Disk Controller 2 Fixed Disk Controller 1 Game Port Bus Mouse Alt Bus Mouse Parallel Printer EGA EGA EGA GPIB AT Serial Port Serial Port Hard Disk XT Floppy Controller 2 Parallel Printer SDLC SDLC MDA Parallel Printer VGA EGA CGA Serial Port Floppy Controller 1 Serial Port Tabl
17. nstalled from the CD The setup program does not set the options on the board these must be set by jumpers To Install the Board 1 Install jumpers for selected options and base address according to your application requirements as mentioned above Remove power from the PC 104 stack Assemble standoff hardware for stacking and securing the boards Carefully plug the board onto the PC 104 connector on the CPU or onto the stack ensuring proper alignment of the pins before completely seating the connectors together Install cables onto the board s I O connectors and proceed to secure the stack together or repeat steps 3 5 until all boards are installed using the selected mounting hardware Check that all connections in your PC 104 stack are correct and secure then power up the system Run one of the provided sample programs appropriate for your operating system that was installed from the CD to test and validate your installation Pin 19 If you are installing this board into PC 104 Pin 10 Pin 0 stack that has the holes for Pin C19 and B10 blocked please cut these two pins as shown from the solder side of this board It is not necessary to block the holes on the component side of the board Pin 1 Figure 2 1 PC 104 Key Information 9 Manual 104 QUAD 8 Chapter 3 Option Selection The only selections necessary to setup on the card are the IRQ level and the card s base address All other features are s
18. nt count from the channel and written to set the Preset Register and the Filter Clock Prescalers To get the count from Channel 1 Data register 0 you would first write 11h to the control register at address 1 Three reads are then required to get the current count from data register 0 The first read returns the Least Significant Byte and the last read returns the Most Significant Byte In order to write to the Preset Register first write 11h to the control register Then perform three writes to the data register The first write is the Least Significant Byte and the last write is the Most Significant Byte In order to write to the Filter Clock Prescaler first write 11h to the control register Then write one byte to the data register with the desired PSC value Then write 19h to the control register Control Registers 1 3 5 7 9 B D F h The control registers all correspond to the data register that is one address below it me control register is used for the following operations Reading the Flag Register Resetting the BP three byte data pointer and flags Setting the PSC filter clock factor n and PR preset count Initial setup of the Counter Mode Register Input Output Control Register and Index Control Register Reading the FLAG Register Bit 0 BT Borrow Toggle flip flop Toggles every time the counter underflows Bit 1 CT Carry Toggle flip flop Toggles every time the counter overflows Bit2 CPT Compare Toggle fli
19. or issuing credit at ACCES discretion for any products which are proved to be defective during the warranty period In no case is ACCES liable for consequential or special damage arriving from use or misuse of our product The customer is responsible for all charges caused by modifications or additions to ACCES equipment not approved in writing by ACCES or if in ACCES opinion the equipment has been subjected to abnormal use Abnormal use for purposes of this warranty is defined as any use to which the equipment is exposed other than that use specified or intended as evidenced by purchase or sales representation Other than the above no other warranty expressed or implied shall apply to any and all such equipment furnished or sold by ACCES 3 Manual 104 QUAD 8 TABLE OF CONTENTS Chapter 1 Introduction 5 Bee VC em 5 Applications nici oad ee oan e ta pane ain anid ee ea e 5 Functional Description crece nette neers Acne 5 Figure 1 1 Block Diagram e 6 Ordering 2 een ed acca seen doen Aas aa aaa EAE aa 6 Model Sea ea aa iaa aia aa a adaa aaa 6 Included with your board neret dotes e retro ker nn EEan 7 Optional ACCESSOFIOS M 7 Chapter 2 Installation M
20. p flop Toggles every time the counter is equal to the Preset Register Bit 3 S Sign flag Set to 1 when counter underflows and reset to 0 when it overflows Bit 4 E Error flag Set to 1 when excessive noise is present at the count inputs in quadrature mode Ignore in other modes Bit 5 U D Up Down flag Set to 1 when counting up and reset to 0 when counting down Bit 6 IDX Index Set to 1 when selected index input is at active level Bit 7 Not used is always 0 14 Manual 104 QUAD 8 Writing to the RLD Reset and Load Signal Decoders Bit 0 Bits 1 amp 2 Bits 3 amp 4 Bits 5 amp 6 Bit 7 1 to reset BP Set bit 1 high to reset CNTR set bit 2 high to reset BT CT CPT S flags Set both bits high to reset E flag Set bit 3 high to transfer Preset Register to Counter Set bit 4 high to transfer CNTR to Output Latch Set both high to transfer Preset Register LSB to the PSC FCK Prescaler Set both bits to 0 Set high to program both counters simultaneously Writing to the CMR Counter Mode Register Bit 0 Bits 1 amp 2 Bits 3 amp 4 Bits 5 amp 6 Bit 7 Set low to use Binary count and set high to use BCD count Set both low to use Normal count Set bit 1 high to use Range Limit Set bit 2 high to use Non Recycle count Set both bits high to use Modulo N count Set both bits low to use non quadrature mode Set bit 3 high to use Quadrature times 1 Set bit 4 high to use Qu
21. rvice and support will be available All equipment originally manufactured by ACCES which is found to be defective will be repaired or replaced subject to the following considerations Terms and Conditions If a unit is suspected of failure contact ACCES Customer Service department Be prepared to give the unit model number serial number and a description of the failure symptom s We may suggest some simple tests to confirm the failure We will assign a Return Material Authorization RMA number which must appear on the outer label of the return package All units components should be properly packed for handling and returned with freight prepaid to the ACCES designated Service Center and will be returned to the customer s user s site freight prepaid and invoiced Coverage First Three Years Returned unit part will be repaired and or replaced at ACCES option with no charge for labor or parts not excluded by warranty Warranty commences with equipment shipment Following Years Throughout your equipment s lifetime ACCES stands ready to provide on site or in plant service at reasonable rates similar to those of other manufacturers in the industry Equipment Not Manufactured by ACCES Equipment provided but not manufactured by ACCES is warranted and will be repaired according to the terms and conditions of the respective equipment manufacturer s warranty General Under this Warranty liability of ACCES is limited to replacing repairing
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