perm filename WLIST2.V[1,VDS]6 blob
sn#250507 filedate 1976-11-29 generic text, type C, neo UTF8
COMMENT ⊗ VALID 00031 PAGES
C REC PAGE DESCRIPTION
C00001 00001
C00003 00002 ARM-COMPUTER INTERFACE FOR PDP-11 AND LSI 11 COMPUTERS
C00006 00003 PRELIMINARIES
C00009 00004 COMPONENTS REQUIRED
C00010 00005 BIT ASSIGNMENTS - USING DRV-11
C00016 00006 ANALOG POWER
C00018 00007 DAC SELECT
C00019 00008 STOP A
C00021 00009 BRAKE OUT
C00022 00010 MODE OUT
C00023 00011 LOAD DACS
C00026 00012 INT CTRL[TOL]
C00027 00013 GNDS
C00028 00014 ONE-SHOT TIMING
C00029 00015 AD OUTPUTS
C00030 00016 MPXR ADDRS
C00031 00017 MPXR OUT[ANALOG]
C00033 00018 DATA OUT
C00034 00019 MISC. WRAPS
C00035 00020 CONNECTOR WIRING -P2
C00039 00021 CONNECTOR WIRING -P3
C00042 00022 CONNECTOR WIRING -P1
C00044 00023 CONNECTOR WIRING -P4
C00045 00024 DAC CONNECTIONS -D0
C00046 00025 DAC CONNECTIONS -D1
C00047 00026 DAC CONNECTIONS -D2
C00048 00027 DAC CONNECTIONS -D3
C00049 00028 DAC CONNECTIONS -D4
C00050 00029 DAC CONNECTIONS -D5
C00051 00030 DAC CONNECTIONS -D6
C00052 00031 DAC CONNECTIONS -D7
C00053 ENDMK
C⊗;
ARM-COMPUTER INTERFACE FOR PDP-11 AND LSI 11 COMPUTERS
VERSION USING 74259 - 8-BIT ADDRESSABLE LATCH
INTRODUCTION
This wire list is for a single board computer interface
for a DEC PDP-11 series computer. It is intended to be used
with a DEC DR-11C or DRV-11 general device interface card.
The computer is interfaced thru two 40 pin connectors.
The arm is interfaced thru two 50 pin connectors.
The interface contains a 12-bit A/D (+-10vdc), 32 channels of
multiplexing, and a buffer amplifier for reading analog signals.
There are also 8 12-bit DACs (+-10vdc output) for outputting analog
signals to the arm.
The interface can read binary (TTL levels) from the arm- Touch and
Tolerance bits plus Panic.
The interface can set the arm servo mode with 8 Mode bits of output.
The interface can output 10 binary bits (brake bits) to the arm.
Interrupts can be obtained on the AND of all Tolerance Bits and on the
OR of Touch and Panic Bits.
Power requirements are +-15vdc, and +5vdc.
Power enters the board by the DEC edge pins. The following pins
are assigned for this purpose
GND- CC2, DC2, EC2, FC2, CT1, DT1, ET1, FT1
+5- CA2, DA2, EA2, FA2
+15- DH1, FH1
-15- DE1, FE1
Other reserved pins are CC1, DC1, DD2 to and including DR2.
All other edge pins are avaliable for backplane signals, etc.
PRELIMINARIES
Modifications to bare MDB-11WWB board.
ALL COMPONENTS ARE ADDED TO PIN SIDE OF BOARD AND SOLDERED ON OPPOSITE SIDE.
TRACE MODIFICATIONS
TOP (PIN) SIDE
Cut GND Buss jumper to pin 8 on 9E,9F,9H,10E,10F,10H, AND ALL LSI SOCKETS.
BOTTOM SIDE
Cut jumpers between pins 7 and 8 on all 16 pin sockets EXECPT 1H, 2C, 3F, 2H, 5F.
Cut +5 BUSS jumper to pin 16 on 9E, 9F, 9H, 10F, 10H, AND ALL LSI SOCKETS.
CAPACITORS:
Add .01 axial lead bypass caps in all DIP socket places EXECPT 9E,9F,9H,10E,10F,10H.
Add 22 mfd tantalum caps alongside 10A, 10D, 10F.
Add 1 mfd. tantalum caps. in 11 places as shown in supplied sketch.
Add .005 mfd. ceramic disc caps. between 2C8 - 2C9 and 5F8 - 5F9.
CONNECTORS
Add 2 BERG 50 pin sockets on HANDLE EDGE OF BOARD (sand down connector edges to fit)
Add 2 BERG 40 pin sockets on P1, P4 EDGE OF BOARD. BIAS TOWARDS LABELS "P1" AND "P4".
SOCKETS
Add 14 pin TI sockets with NOTCH AND BIAS TOWARDS CARD HANDLES SIDE in the
following locations. 1H, 2C, 2H, 3F, 5F, and all other 14 pin
pattern locations on board.
Add 16 pin AUGAT sockets in the following locations- 9E, 9F, 9H, 10F, 10H.
Add 16 pin TI sockets in all other 16 pin pattern places.
Add LSI socket strips per supplied sketch. These are 8 pcs. 24 pin Augat sockets
and 1 pc. 32 pin Augat socket, sawn to socket strips only.
COMPONENTS REQUIRED
DIGITAL INTEGRATED CIRCUITS
74LS00 1
74LS04 3
74LS08 1
7416 2
7417 2
74LS30 2
74LS74 2
74LS123 3
74155 1
74LS174 4
74LS257 4
74LS259 13
ANALOG COMPONENTS
HI1-0508A-5 4PCS. (HARRIS 8 CHANNEL MUX.)
LM310N 1PC. (BUFFER AMP.)
DAC80-CBI-V 8PCS. (BURR-BROWN 12 BIT DACS.)
ADC80AG-12 1PC. (BURR BROWN 12 BIT A/D)
PASSIVE COMPONENTS
1 mfd., Tantalum Caps. 11 pcs.
22 mfd. Tantalum Caps. 3 pcs.
.01 mfd. Axial ceramic 45 pcs.
Beckman Resistor Dip 898-1-r1.5k or equivalent.
BIT ASSIGNMENTS - USING DRV-11
The DEC DRV-11 has three registers- A Status Register, An Output Data
Register, and An Input Data Register. These registers have the
following addresses:
For the arm interface
167760 -Status
167762 -Output (Load Functions)
167764 -Input (Read Functions)
Register addresses can be changed in steps of 10(octal) from these
base addresses, by altering jumpers on the DEC board.
The VICARM interface is designed to use this DEC type of interface
card.
Two 40 conductor cables connect the Vicarm Interface to the DEC card.
The Vicarm interface operates in various modes, all under computer
control. This is done by setting the proper CSR bits in the Status
Register.
A list of CSR Bits and Function Follows.
FUNCTION CSR0 CSR1 REGISTER
15 12 9 6 3 0
-----------------------------------------
Load DACs 0 0 |3bit addr|mode| 12bits DAC data
-----------------------------------------
-----------------------------------------
Load Brakes 1 0 |3bits spare|6bits control|7bits brakes |
-----------------------------------------
-----------------------------------------
Load A/D channel no. 0 1 | 11 bits spare |5bits A/D chn |
-----------------------------------------
-----------------------------------------
Read a/d 0 1 |4bits spare| 12 bits A/D data |
-----------------------------------------
-----------------------------------------
Read Sensors and Bits 1 1 |8bits tolerance|1bit STOP|7bits sensors |
-----------------------------------------
Load Encoders 1 1 (Encoder option only)
Read Encoders 1 0 (Encoder option only)
All output (load) functions take place when the NEW DATA READY signal
comes up indicating the output buffer register has been loaded with
the output data. The OUTPUT REGISTER contents are listed above.
Input (read) functions take place when the Vicarm Interface generated
REQ A bit comes up. The DR11-C returns a DATA TRANSMITTED pulse when
it has read the data. This resets the REQ A flag. The INPUT REGISTER
contents are listed above. (For arm, Interrupt A address is 310, and
Interrupt B address is 314).
Furthur details of the function of each bit can be found by looking
on the interface schematic drawings.
Some definitions are:
Control bits
INTOFF - Turns off hardware integration in servo system (all joints
together).
COMP ENB -This bit allows brake bits to enable the arm servos.
Preceeds all motions.
INTON -Forces hardware integration on when set(all joints).
ENB TOL INT.-Enables the tolerance bit interrupt (REQ B).
ENB TOUCH INT.-Enables the touch sensor interrupt (REQ B).
WIDE TOL - Arm servos with coarse positioning accuracy
Brake bits- This bit releases brake on joint and enables joint servo
(1 per joint).
Tolerance Bits- These bits signal when joint has finished moving to
desired angle. Normal tolerance is about 1 A/D bit, Coarse
tol. is about 20 A/D bits.
Sensor Bits- These bits come up when touch sensors, or other binary
devices switch.
STOP or PANIC BIT- Set by pushing STOP button on hand unit- stops arm
immediately.
MODE Bit- Selects either Position or Current Servo. 1 per joint.
Normal is Position Servo. Current servo used when running in
software servo mode (no software supplied for this mode).
ANALOG POWER
+15
S 8D17
9E9
9E15
9F13
9H13
10F13
10H13
DH1
4A22
4B22
4C22
4D22
4E22
FH1
8A22
8B22
8C22
S 8D17
-15
S 8D25
9E10
9E4
9F3
9H3
10F3
10H3
DE1
4A14
4B14
4C14
4D14
4E14
FE1
8A14
8B14
8C14
S 8D25
+5 SOLDER INDIVIDUALLY TO +5V BUSS (BOTTOM SIDE)
S 4A13
S 4B13
S 4C13
S 4D13
S 4E13
S 8A13
S 8B13
S 8C13
S 8D7
S 8D9
GND
9E7
9E8
9F14
9H14
10F14
10H14
S GND NEAR 8D15
GND- SOLDER INDIVIDUALLY TO GND. BUSS- (TOP SIDE)
S 4A21
S 4B21
S 4C21
S 4D21
S 4E21
S 8A21
S 8B21
S 8C21
S 8D10
S 8D15
Hold Downs (no other function- install last)
6H14
5H14
2 PLACES ON CARD EDGE CONNECTOR (install last)
DAC SELECT
OUT 13
1E4
5B1
5C1
5D1
5E1
6B1
6C1
6D1
7B1
7C1
7D1
9B1
9C1
10B1
OUT 14
1E6
5B2
5C2
5D2
5E2
6B2
6C2
6D2
7B2
7C2
7D2
9B2
9C2
10B2
OUT 15
1E14
5B3
5C3
5D3
5E3
6B3
6C3
6D3
7B3
7C3
7D3
9B3
9C3
10B3
STOP A
2B13
2A10
1E1
1F1
2F1
5B15
5C15
5D15
5E15
6B15
STOP -
2C2
6C15
6D15
7B15
7C15
7D15
9C15
9B15
10B15
BRAKE OUT
BOUT00
1F2
1H1
BOUT01
1F5
1H3
BOUT 02
1F7
1H5
BOUT 03
1F15
1H11
BOUT04
1F12
1H13
BOUT05
1F10
1H15
BOUT06
2F2
2H3
BOUT07
2F5
6H11
BOUT08
2F7
2H11
BOUT09
2F15
3F15
BOUT10
2F12
3B2
BOUT11
2F10
2C11
BOUT12
1E2
3F11
BOUT13
1E5
3F13
MODE OUT
00
10B4
3H1
01
10B5
3H3
02
10B6
3H5
03
10B7
3H9
04
10B9
3H11
05
10B10
3H13
06
10B11
3F1
07
10B12
3F3
LOAD DACS
1C7
5B14
5C14
5D14
5E14
6B14
6C14
6D14
7B14
7C14
7D14
9B14
9C14
10B14
LOAD BRAKES
1C6
1E9
1F9
2F9
LOAD AD MPX
1C5
2D9
2B10
1A12
RD AD
1C12
2C13
1A9
6E1
6F1
7E1
7F1
¬RD AD
2C12
1A4
STOP X
2B4
2C1
INT CTRL[TOL]
2A5
1A1
INT CTRL[TOUCH]
2A8
1A2
6H6
3A3
2C14
3A1
1A11
2C15
1A8
1A13
1A6
2A4
2A13
3B4
2A3
3B12
2A11
5F10
3B1
2A2
5H8
3B10
2A12
2C10
3B9
GNDS
6H9
6H7
2B1
2C8
2B9
1B8
3D9
2D8
GND
1C2
1C15
1C14
1C8
GND
7F3
7F6
7F8
7F10
7F13
HI
6H8
3A4
3A2
2A1
2B11
3B11
3B3
2D1
3D11
PANIC
5H12
7E14
2B3
2C9
RD BITS MUX
6E15
7E15
6F15
7F15
6H12
6H13
1C10
2H10
10E4
10E5
ONE-SHOT TIMING
3C16
3C14
3C12
3B15
3C5
3B14
3C11
3B7
3C3
3B6
3C13
2B7
3C1
2B6
3C15
2B15
1B15
2B14
1B9
AD OUTPUTS
S 8D27
6E3
S 8D28
6E6
S 8D29
6E10
S 8D30
6E13
S 8D31
7E3
S 8D32
7E6
S 8D1
7E10
S 8D2
7E13
S 8D3
6F3
S 8D4
6F6
S 8D5
6F10
S 8D6
6F13
MPXR ADDRS
2D2
9F1
9H1
10H1
10F1
10E1
2D5
9F16
9H16
10H16
10F16
10E14
2D7
9F15
9H15
10H15
10F15
10E15
2D10
6H1
7H5
7H13
2D12
6H3
7H9
7H12
6H2
7H2
7H10
6H4
7H1
7H4
7H11
9H2
10E13
7H8
9F2
10E12
7H6
10H2
10E3
7H3
10F2
10E2
MPXR OUT[ANALOG]
9H8
10H8
10F8
9F8
9E3
9E14
S 8D14
S 8D22
6H5
3D5
S 8D18
3D10
2B12
3D7
3C7
A/D
S 8D11
S 8D12
S 8D21
S 8D20
S 8D19
+5VDC
DATA OUT
OUT00
5B13
2D3
1F3
OUT01
5C13
2D4
1F4
OUT02
5D13
2D6
1F6
OUT 03
5E13
2D11
1F14
OUT04
6B13
2D13
1F13
OUT05
6C13
1F11
OUT 06
6D13
2F3
OUT 07
7B13
2F4
OUT 08
7C13
2F6
OUT 09
7D13
2F14
OUT10
9C13
2F13
OUT11
9B13
2F11
OUT12
10B13
1E3
1A5
1A10
1C1
2B2
HBIT
9B4
2C3
9B5
2C5
9B6
9A1
9B7
9A3
9B9
9A5
9B10
9A9
9B11
9A11
9B12
9A13
MISC. WRAPS
5F1
6F2
5F2
6F5
5F3
6F11
5F4
6F14
5F5
7F2
5F6
7F5
5F13
7F11
5F14
7F14
5H1
6E2
5H2
6E5
5H3
6E11
5H4
6E14
5H5
7E2
5H6
7E5
5F9
5H11
7E11
CONNECTOR WIRING -P2
Connector P2 - 50 pin- Digital Signals Only
FROM TO FUNCTION
P2
1 GND
2 5F14 TOLERANCE BIT 07 IN TOLERANCE =HIGH
3 5F13 TOLERANCE BIT 06
4 5F6 TOLERANCE BIT 05
5 5F5 TOLERANCE BIT 04
6 5F4 TOLERANCE BIT 03
7 5F3 TOLERANCE BIT 02
8 5F2 TOLERANCE BIT 01
9 5F1 TOLERANCE BIT 00
10 GND
11 5H12 PANIC PANIC = LOW
12 5H11 TOUCH 06 COMPUTER MODE ENABLED = HI
13 5H6 TOUCH 05 TOUCH = LOW
14 5H5 TOUCH 04
15 GND
16 5H4 TOUCH 03
17 5H3 TOUCH 02
18 5H2 TOUCH 01
19 5H1 TOUCH 00
20 GND
21 3F4 MODE 07 (CURRENT/POSITION) POSITION = HI
22 3F2 MODE 06
23 3H12 MODE 05
24 3H10 MODE 04
25 GND
26 3H8 MODE 03
27 3H6 MODE 02
28 3H4 MODE 01
29 3H2 MODE 00
30 GND
31 SPARE
32 SPARE
33 3F12 BRAKE 13 HAND IMPACT MODE- IMPACT=LOW
34 3F10 BRAKE 12 WIDE TOLERANCE REGION- WIDE=LOW
35 GND
36
37
38 3F14 BRAKE 09 "INTON"-REMOTE INTEGRATE TURN ON =LOW
39 2H10 BRAKE 08 COMPUTER MODE -STEP HI=ENABLE, LOW=DISABLE
40 GND
41 6H10 BRAKE 07 "INTOFF"-INTEGRATOR ZEROED WHEN LOW.
42 2H4 BRAKE 06 HAND , HI=BRAKE OFF AND JOINT ENABLED
43 1H14 BRAKE 05 JOINT 6, HI=BRAKE OFF AND JOINT ENABLED
44 1H12 BRAKE 04 JOINT 5, HI=BRAKE OFF AND JOINT ENABLED
45 GND
46 1H10 BRAKE 03 JOINT 4, HI=BRAKE OFF AND JOINT ENABLED
47 1H6 BRAKE 02 JOINT 3, HI=BRAKE OFF AND JOINT ENABLED
48 1H4 BRAKE 01 JOINT 2, HI=BRAKE OFF AND JOINT ENABLED
49 1H2 BRAKE 00 JOINT 1, HI=BRAKE OFF AND JOINT ENABLED
50 GND
CONNECTOR WIRING -P3
Connector P3 - 50pin- Analog Signals only
FROM TO FUNCTION (TP=TWISTED PAIR-GROUND BOTH ENDS OF ONE WIRE)
P3
1 GND
2 8C15 TP DAC 07 SPARE 12 BIT DAC, OUTPUT RANGE +-10VDC.
3 8B15 TP DAC 06 HAND DAC OUTPUT
4 8A15 TP DAC 05 JOINT #6 DAC OUTPUT
5 4E15 TP DAC 04 JOINT #5 DAC OUTPUT
6 4D15 TP DAC 03 JOINT #4 DAC OUTPUT
7 4C15 TP DAC 02 JOINT #3 DAC OUTPUT
8 4B15 TP DAC 01 JOINT #2 DAC OUTPUT
9 4A15 TP DAC 00 JOINT #1 DAC OUTPUT
10 GND
11 9H9 A/D 31 SPARE A/D CHANNEL(12 BIT, +-10VDC RANGE)
12 9H10 A/D 30 SPARE
13 9H11 A/D 29 SPARE
14 9H12 A/D 28 SPARE
15 GND
16 9H7 A/D 27 SPARE
17 9H6 A/D 26 SPARE
18 9H5 A/D 25 SPARE
19 9H4 A/D 24 SPARE
20 GND
21 9F9 A/D 23 SPARE
22 9F10 A/D 22 HAND MOTOR CURRENT
23 9F11 A/D 21 JOINT #6 MOTOR CURRENT
24 9F12 A/D 20 JOINT #5 MOTOR CURRENT
25 GND
26 9F7 A/D 19 JOINT #4 MOTOR CURRENT
27 9F6 A/D 18 JOINT #3 MOTOR CURRENT
28 9F5 A/D 17 JOINT #2 MOTOR CURRENT
29 9F4 A/D 16 JOINT #1 MOTOR CURRENT
30 GND
31 10H9 A/D 15 SPARE
32 10H10 A/D 14 HAND TACHOMETER
33 10H11 A/D 13 JOINT #6 TACH
34 10H12 A/D 12 JOINT #5 TACH
35 GND
36 10H7 A/D 11 JOINT #4 TACH
37 10H6 A/D 10 JOINT #3 TACH
38 10H5 A/D 09 JOINT #2 TACH
39 10H4 A/D 08 JOINT #1 TACH
40 GND
41 10F9 A/D 07 SPARE
42 10F10 A/D 06 HAND POTENTIOMETER
43 10F11 A/D 05 JOINT #6 POT
44 10F12 A/D 04 JOINT #5 POT
45 GND
46 10F7 A/D 03 JOINT #4 POT
47 10F6 A/D 02 JOINT #3 POT
48 10F5 A/D 01 JOINT #2 POT
49 10F4 A/D 00 JOINT #1 POT
50 GND
CONNECTOR WIRING -P1
Connector P1 - 40 pin - To connector J1 on DRV-11
From To
P1
1 1C1 NEW DATA READY
2 GND
3
4 GND
5
6 GND
7 1F6 OUT 02
8 GND
9 3A5 REQ A
10 GND
11 1E14 OUT 15
12 1E6 OUT 14
13 1E4 OUT 13
14 GND
15 1C3 CSR 1
16 GND
17 1E3 OUT 12
18 2F11 OUT 11
19 2F13 OUT 10
20 GND
21 2F14 OUT 09
22 2F6 OUT 08
23 GND
24 1F14 OUT 03
25 2F4 OUT 07
26 GND
27 2F3 OUT 06
28
29 1F11 OUT 05
30 GND
31 1F13 OUT 04
32 1F4 OUT 01
33 GND
34
35 1C10 READ ENCODERS (TO ENCODER BOARD) RD ENCD
36
37 1C4 LOAD ENCODERS (TO ENCODER BOARD) LD ENCD
38 1F3 OUT 00
39
40
CONNECTOR WIRING -P4
Connector P4 - 40 pins - To connector J2 on DRV-11
From To Function
P4
1
2 GND
3 6E4 IN00
4 GND
5
6 GND
7
8 GND
9 6E7 IN01
10 7E4 IN04
11 GND
12 7E7 IN05
13
14 7E9 IN06
15 GND
16 7E12 IN07
17 6E12 IN03
18 GND
19 6F4 IN08
20 6F7 IN09
21 GND
22 6F9 IN10
23 6F12 IN11
24 7F4 IN12
25 GND
26 1A3 REQ B
27 GND
28 7F7 IN13
29 7F9 IN14
30 7F12 IN15
31 GND
32 1C13 CSR0
33 GND
34 6E9 IN02
35
36
37
38 1A5 DATA TRANSMITTED
39
40
DAC CONNECTIONS -D0
DAC D0
FROM TO
5B4 4A12
5C4 4A11
5D4 4A10
5E4 4A9
6B4 4A8
6C4 4A7
6D4 4A6
7B4 4A5
7C4 4A4
7D4 4A3
9C4 4A2
2C4 4A1
4A15 4A19
4A24 4A16
4A20 4A17
DAC CONNECTIONS -D1
DAC D1
FROM TO
5B5 4B12
5C5 4B11
5D5 4B10
5E5 4B9
6B5 4B8
6C5 4B7
6D5 4B6
7B5 4B5
7C5 4B4
7D5 4B3
9C5 4B2
2C6 4B1
4B15 4B19
4B24 4B16
4B20 4B17
DAC CONNECTIONS -D2
DAC D2
FROM TO
5B6 4C12
5C6 4C11
5D6 4C10
5E6 4C9
6B6 4C8
6C6 4C7
6D6 4C6
7B6 4C5
7C6 4C4
7D6 4C3
9C6 4C2
9A2 4C1
4C15 4C19
4C24 4C16
4C20 4C17
DAC CONNECTIONS -D3
DAC D3
FROM TO
5B7 4D12
5C7 4D11
5D7 4D10
5E7 4D9
6B7 4D8
6C7 4D7
6D7 4D6
7B7 4D5
7C7 4D4
7D7 4D3
9C7 4D2
9A4 4D1
4D15 4D19
4D24 4D16
4D20 4D17
DAC CONNECTIONS -D4
DAC D4
FROM TO
5B9 4E12
5C9 4E11
5D9 4E10
5E9 4E9
6B9 4E8
6C9 4E7
6D9 4E6
7B9 4E5
7C9 4E4
7D9 4E3
9C9 4E2
9A6 4E1
4E15 4E19
4E24 4E16
4E20 4E17
DAC CONNECTIONS -D5
DAC D5
FROM TO
5B10 8A12
5C10 8A11
5D10 8A10
5E10 8A9
6B10 8A8
6C10 8A7
6D10 8A6
7B10 8A5
7C10 8A4
7D10 8A3
9C10 8A2
9A8 8A1
8A15 8A19
8A24 8A16
8A20 8A17
DAC CONNECTIONS -D6
DAC D6
FROM TO
5B11 8B12
5C11 8B11
5D11 8B10
5E11 8B9
6B11 8B8
6C11 8B7
6D11 8B6
7B11 8B5
7C11 8B4
7D11 8B3
9C11 8B2
9A10 8B1
8B15 8B19
8B24 8B16
8B20 8B17
DAC CONNECTIONS -D7
DAC D7
FROM TO
5B12 8C12
5C12 8C11
5D12 8C10
5E12 8C9
6B12 8C8
6C12 8C7
6D12 8C6
7B12 8C5
7C12 8C4
7D12 8C3
9C12 8C2
9A12 8C1
8C15 8C19
8C24 8C16
8C20 8C17