C86ACCP Connect to 7i76 mesa

Hey guys 
Rookie question
I was thinking of buying an acorn with C86ACCP to connect clearpath servo motors, but now I have changed my mine for a 7i76 mesa. Now I have a 7i76 with C86ACCP and, I want to connect clearpath with 7i76. My question is, does This modification it's only get done through software, or do I  have to make some changes to 7i76 to be available to control clearpath servo motors?

I don't see what the need for the C86ACCP would be when you have a 7i76 (Do you have the 7i76e or a plain 7i76?) The 7i76 can connect directly to the step/dir and enable inputs of the Clearpath servos, and Linuxcnc can handle multiple motors(joints) on an axis internally.

I suppose C86ACCP might distribute the high voltage for powering the servos to each drive, but is that really nessisary or even a good idea? I think I'd rather have that in separate cabling from the control signals anyway.

Thanks!
I have the 7i76 mesa.

What Mesa FPGA card do you have for connecting it to the PC? (5i25,6i25,7i92,7i80DB,7i98,something else?) The 7i76e doesn't need one because the FPGA is built into it.