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+====== CAN-GC6 mergCBUS 4 Chanel Servo Controller ======
+[[:english|{{  :rocrail-logo-35.png}}]]
+[[:english|Content]] -> [[:english#hardware|Hardware]] -> [[:english#merg_cbus|mergCBUS]]
+  * [[:cbus:overview-en|CAN-GC Overview]]
+  * [[:can-gca1-en|CAN-GC1]] | [[:can-gca1e-en|CAN-GC1e]] | [[:can-gca2-en|CAN-GC2]] | [[:can-gc3-en|CAN-GC3]] | [[:can-gc4-en|CAN-GC4]] | [[:can-gca5-en|CAN-GC5]] | **[[:can-gc6-en|CAN-GC6]]** | [[:can-gc7-en| CAN-GC7]]
+    * **[[:cbus:cangc6-firmware-en|Firmware]]**
+ \\
+This page documents the HEAD revision of the firmware.\\
+ \\
+===== Firmware =====
+| Firmware version: **1.a** rev.: 305, resonator: **8MHz**, Rocrail: **3181+** | \\
+The firmware is based on CAN-GC2.\\
+Boot mode is not supported.\\
+==== Copyrights ====
+(c) [[http://www.merg.org.uk/|MERG]]\\
+(c) [[http://www.rocrail.net|Rob Versluis, rocrail.net]]\\
+==== Features ====
+  * All variables and events are configurable. (FLiM)
+  * Servo speed.
+  * Switch commands are processed.
+  * Servo end positions are reported. (GCA136 compatible.)
+  * "Start Of Day" support.
+  * LED4 for 1 or more servo position pending.
+  * Relay control. (GCA137, Tx 480 baud)
+  * External switch position sensors processing.
+  * Save servo positions at power off.
+  * Restore servo position and relays state.
+  * Stop servo pulse after reaching the wanted position + 2 seconds.
+  * 1000 steps in pulse width from 0.5 to 2.5ms.
+  * Max. speed 20.
+  * Separate speed for left and right move.
+  * Bounce option.
+ \\
+==== IDs ====
+| NMRA Manufacturer ID |  70 |
+| Product ID |  6 |\\
+==== HEX ====
+  * https://gitlab.com/rocrail/GCA/-/tree/master/cbus/cangc6/dist/default/production
+ \\
+==== Sources ====
+  * https://gitlab.com/rocrail/GCA/-/tree/master/cbus
+=== Development Tools ===
+  * MPLAB X v1.00
+  * C18 v3.40
+  * PICKit 3
+ \\
+===== Node Variables =====
+^ # ^ Description ^
+|  1 | node configuration |
+|  2 | CAN-ID |
+| 3-22 | 4 x 5 Servo settings |
+ \\
+==== Node configuration byte ====
+^ Bit ^  Function  ^ Remark ^
+|  0 | save servo positions at power off command | |
+|  1 | use short events | |
+ \\
+==== Servo settings====
+^ Byte ^  Function  ^ Remark/Range ^
+|  0 | config | |
+|  1 | left | 50...250 |
+|  2 | right | 50...250 |
+|  3 | speed left | 1...20 |
+|  4 | speed right | 1...20 |
+ \\
+=== Servo configuration byte ===
+^ Bit ^  Function  ^ Remark ^
+|  0 | Relay polarisation | Swap polarization. |
+|  1 | External switch sensors | |
+|  2 | Bounce | |
+ \\
+===== Node Events =====
+  * Sensors will generate OPC_ACON/OPC_ACOF events.
+  * Servos will change position on OPC_ACON/OPC_ACOF.
+^ Event# ^ Description ^ Variable ^
+|  0-3 | servo switch 1...4 | not used |
+|  4-7 | servo sensor 1...4 | not used |
+|  8 | SOD | not used |
+ \\
+=====Servo control=====
+The servo pulse width must be between 0.5 and 2.5 ms for 180° range:\\
+| {{:cbus:servo-signal.jpg?300}}|{{:cbus:gc6-servo-outputwave.jpg?300}}|
+| Theoretically. | First real time result. | \\
+Every 5 ms a pulse is started for one of the 4 servos. The refresh rate for each servo is 20ms: 50Hz.\\
+Timer0 is used for the 5ms interval and Timer2 for the pulse width which is re-programmed for each servo in every 5ms cycle.\\
+ \\
+=====External Sensors=====
+Optional every servo can use two sensor inputs, on connectors Fb1...Fb4, for signalling the switch position.\\
+^ Straight ^ Thrown ^ Status ^
+|  0  |  0  | The switch stand is pending. |
+|  1  |  0  | Straight position. |
+|  0  |  1  | Thrown position. |
+|  1  |  1  | Invalid. | \\
+A position change is only reported on the CBUS if only one of the inputs is high.\\