Controller Setup Overview 
The two transputers are installed on the PC-486 in a tree-topology master-slave configuration shown below. This configuration is saved on a file and is run by the Inmos's Network Configuration Software (NCS) when the PC is booted. This configuration is also mirrored in a configuration file to be used by the code collector icollect as part of the compilation process.
At start time, the transputer executable is loaded via the PcServer on both the Master and Slave chips. After entering the control loop, communication to the controller is done via the Sunnyside A/D and D/A converters.
One can view the two transputers as an abstract system model with a set of inputs/outputs:
Details on the mapping of software to hardware will be described in the next page.
