JPS5919654A - Power supply cutoff method of nc machine tool under emergency - Google Patents

Power supply cutoff method of nc machine tool under emergency

Info

Publication number
JPS5919654A
JPS5919654A JP12665482A JP12665482A JPS5919654A JP S5919654 A JPS5919654 A JP S5919654A JP 12665482 A JP12665482 A JP 12665482A JP 12665482 A JP12665482 A JP 12665482A JP S5919654 A JPS5919654 A JP S5919654A
Authority
JP
Japan
Prior art keywords
power supply
machine tool
predetermined time
section
power
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP12665482A
Other languages
Japanese (ja)
Inventor
Goro Inoue
井上　午朗
Haruhiko Kuriyama
晴彦 栗山
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Amada Co Ltd
Original Assignee
Amada Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Amada Co Ltd filed Critical Amada Co Ltd
Priority to JP12665482A priority Critical patent/JPS5919654A/en
Publication of JPS5919654A publication Critical patent/JPS5919654A/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34465—Safety, control of correct operation, abnormal states
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50187—Stop drive motor if clutch refuses, remains active, if emergency
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50198—Emergency stop

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Auxiliary Devices For Machine Tools (AREA)

Abstract

PURPOSE:To suppress the occurrence of defective machining by completely stopping the operation after predetermined times respectively in the order of the drive stop of an NC device, power feed stop to the NC device, and power feed stop to an NC machine tool when the continuation of an abnormal state for a predetermined time is detected. CONSTITUTION:When abnormalities occur in a machine tool and the first and second abnormality detection sections 7, 9 detect stop signals from an NC device 1 and a control section 5 or an abnormality signal from an operation section 3, a power supply stop signal judgement section 11 applies the drive stop signal of the NC device 1 to the NC device 1 and the first power supply cutoff process section 15 after the predetermined time of a built-in timer in response to these signals. The process section 15 applies the power feed stop signal to the NC device 1 to a power supply switch 17 and the second power supply cutoff process section 19 after the predetermined time of a built-in timer. Then, the process section 19 applies the power feed stop signal to the machine tool to a non-fuse breaker 13 after the predetermined time of a built-in timer. Therefore, the occurrence of defective machining can be suppressed, and the operation is resumed after the causes of the abnormalities have been removed in a predetermined time, thereby the deterioration of productivity can also be suppressed.

Description

【発明の詳細な説明】 この発明は、ＮＣ装置を有する工作１幾械に関し、異常
発生による生産性の低下を抑制したＮＣ工作機械の非常
時におＩＪる電源遮断力法に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a work machine equipped with an NC device, and relates to a method for shutting off the power supply in the event of an emergency for the NC machine tool, which suppresses a decrease in productivity due to the occurrence of an abnormality.

従来、ＮＣ工作機械においては、例えば被加工物の装置
ズレ、クランクのオーバラン等の軽微な異常が発生して
も、これらが工作作業を行なうことについて特に支障が
ない限り、異常な原因を除去せずに、工作作業を続けて
いた。しかしながら、軽微な異帛が発生しＣいる時に工
作されＩこ被加工物については、不良品である確率が高
く、且つ、軽微な異常が発生している状態Ｃ異常原因を
除去ｌ！ずにに工作作業を継続すると、他の部分に異常
を及ぼし、ひいては工作機械の重大な異常を誘発覆る恐
れがあり、この場合には修理に手間取ることが多く、作
業再開に時間がかかり、結果として異常発生により生産
性が低下する恐れがある。Conventionally, in NC machine tools, even if a slight abnormality occurs, such as a device misalignment of the workpiece or a crank overrun, the cause of the abnormality must be removed as long as it does not interfere with the machining work. He continued his work without any hesitation. However, if a workpiece is machined when a slight abnormality occurs, there is a high probability that it is a defective product, and the cause of the abnormality must be removed. Continuing the machine work without doing so may cause abnormalities in other parts and may even lead to serious malfunctions of the machine tool. There is a risk that productivity will decrease due to the occurrence of abnormalities.

この発明は上記に鑑みでなされたもので、異常発生によ
る生産性の低下を抑制したＮＣ工作機械の非常時にｄ３
ける電源遮断方法を提供する口とにある。This invention was made in view of the above, and it is possible to reduce the d3 in an emergency of an NC machine tool by suppressing the decline in productivity due to the occurrence of an abnormality.
There is an opening that provides a method for shutting off the power.

上記目的を達成するために、この発明は、数値制御装置
を有する工作機械において、所定時間異常状態が継続し
たどきには、前記数値制御装置の駆動を停止し、その後
予め定められた時間後に前記数値制御装置への給電経路
を遮断して、その後所定時間経過後に前記工作機械への
給電経路を遮断することを要旨とする。In order to achieve the above object, the present invention provides a machine tool having a numerical control device that stops driving the numerical control device when an abnormal state continues for a predetermined period of time, and then stops the driving of the numerical control device after a predetermined period of time. The gist is to cut off the power supply route to the numerical control device, and then cut off the power supply route to the machine tool after a predetermined period of time has elapsed.

以下、図面を用いて、この発明の実施例について説明−
する。Examples of the present invention will be described below with reference to the drawings.
do.

第１図は、この発明の実施例を示１もので、１゜３．５
（よ工作機械のそれぞれＮＣ装置、稼働部、該稼働部３
０制御部、７は上記ＮＣ装置１ａ３．Ｊ、び制御部５か
ら出力される非単停止信号、停止信号、休止信号等を検
出する第１の異常信号検出部、９は前記稼働」部３から
出力される異常信号を検出づる第２の異常信号検出部、
１１は上記第１および第２の異常信号検出部７および９
から出力される異常信号の継続した出力時間に基づいて
、工作機械を停止さけるべく、該工作機械への給電経路
上に接続３れでいるノンヒユーズブレーカ（Ｎ　Ｆ　Ｓ
　）１３を断づるか否かを判定する電源断信号判定部、
１５は上記ＮＦＢ１３を断する場合には前記ＮＣ装置１
への給電経路上に接続されでいる電源スィッチ１７をＡ
フさける第１の電源遮断処理部、１９は該電源スイッチ
１７のオフ後所定時間経過後（Ｔ３）に前記Ｎ　Ｆ　Ｔ
３１３を断する第２の電源遮ｌ！Ｉ′ｉ処理部である。FIG. 1 shows an embodiment of the present invention, with a diameter of 1°3.5
(The NC device, operating section, and operating section 3 of each machine tool)
0 control section, 7 is the NC device 1a3. J, a first abnormal signal detection section for detecting a non-single stop signal, a stop signal, a pause signal, etc. output from the control section 5; 9, a second abnormal signal detection section for detecting an abnormal signal output from the operation section 3; abnormal signal detection section,
11 is the first and second abnormal signal detection section 7 and 9;
In order to avoid stopping the machine tool based on the continuous output time of the abnormal signal output from the machine tool, a non-fuse breaker (NF S
) 13;
15 is the NC device 1 when disconnecting the NFB 13.
Connect the power switch 17 connected to the power supply path to
The first power cutoff processing unit 19 that shuts down the N F T after a predetermined time has elapsed (T3) after the power switch 17 is turned off
A second power interruption that disconnects 313 l! This is the I'i processing section.

次に、この実施例を第２図（Ａ）〜（１１＞と共に説１
月する。なお、第２図につい（、（へ）は電源断信号判
定部」１への人力侶月波形、（［３）は該電源断信号判
定部１１に内蔵されＣいるタイマ（図示せず）の駆動波
形、（Ｃ）は電源断信号判定部１１の出力信号波形、（
０）は第１の電源遮断処理部１５（こ内蔵されているタ
イマく図示せづ゛）の駆動状態、＜Ｅ）は−前記電源ス
ィッチ１７のＡン、Ａフ状態、（「）は第２の電源遮断
処理部１９に内蔵されているタイマ（図示けず）の駆動
状態、（Ｇ）はＮＦＢ１３に内蔵されている１ヘリツブ
コイル（図示せず）の励磁状態、（）−１＞はＮ「Ｂ１
３のＡン、Ａフ状態を示づ。Next, this example will be explained in conjunction with Figures 2(A) to (11>).
Moon. Regarding FIG. 2, ([3] is the waveform of the manual input to the power-off signal determination section 11, and ([3) is the waveform of a timer (not shown) built in the power-off signal determination section 11. The drive waveform, (C) is the output signal waveform of the power-off signal determination unit 11, (
0) is the driving state of the first power cutoff processing unit 15 (the built-in timer is not shown), <E) is the A-on, A-off state of the power switch 17, (G) is the driving state of the timer (not shown) built in the power cutoff processing unit 19 of No. 2, (G) is the excitation state of the 1st herring coil (not shown) built in the NFB 13, ()-1> is N B1
Showing the A-on and A-f states of 3.

工作機械に異常が発生ずると、第１または第２の異常状
態検出部７またはっか該異常を検出して電源断信号判定
部１１に異常信号を出力づる。該電源断信号判定部１１
は該異常信号の継続出力時間（−「）を内蔵１゛るタイ
マによってｉｔり該時間（Ｔ）が異常Ｔ：はなく被加工
物の載Ｕ換えの間の休止、あるいは軽微な異常で簡１１
に異常原因が除去された等により所定時間（Ｔ’ｓ）、
より短い場合に（ま信号の出力は行なわないが、該時間
（Ｔ　）が所定時間（ＴＩ　）し長い揚台にはＮＣ装置
１の駆動を停止させる駆動停止信号を該ＮＧ装＠１およ
び第１の電源遮断処理部１５に印１ｊ１１りる。該第１
の電源遮断処理部１５は、上記駆動停止信号の入力にＪ
、り内蔵するタイマを駆動開始し、所定Ｍ間（Ｔ２　）
経過後に、ＮＣ装置１への給電を停止させる給電停止信
号を電源スィッチ１７に印加して該スイッチ１７をＡフ
にするとＪいこ、第２の電源遮断処理部１９にも供給づ
る。第２の°電源遮断処理部コ９は、上記給電停止信号
の入力により内蔵づるタイマを駆動開始し、所定時間経
過後（Ｔ３）に、稼働部３、制御部５への給電を停止づ
−へ＜ＮＦＢ遮断指令信号をＮＦＢ１３に印加ターる。When an abnormality occurs in the machine tool, the first or second abnormal state detection section 7 or the like detects the abnormality and outputs an abnormal signal to the power-off signal determination section 11. The power-off signal determination unit 11
The continuous output time (-") of the abnormal signal is determined by a built-in timer, and the time (T) is determined by a built-in timer. If the time (T) is not abnormal, there is a pause during the loading and unloading of the workpiece, or a minor abnormality. 11
A predetermined time (T's) due to the removal of the cause of the abnormality, etc.
If the time (T) is longer than the predetermined time (TI), the drive stop signal to stop the drive of the NC device 1 is sent to the NG device @1 and the A mark 1j11 is placed on the power cutoff processing unit 15 of the first power supply cutoff processing unit 15.
The power cutoff processing unit 15 of J
, starts driving the built-in timer and runs for a predetermined period of M (T2).
After the elapse of time, when a power supply stop signal for stopping the power supply to the NC device 1 is applied to the power switch 17 and the switch 17 is turned to A-off, the power is also supplied to the second power cutoff processing section 19. The second power cutoff processing unit 9 starts driving a built-in timer in response to the input of the power supply stop signal, and stops power supply to the operating unit 3 and the control unit 5 after a predetermined period of time (T3) has elapsed. Apply the NFB cutoff command signal to the NFB13.

ＮＦＢ１３は、該ＮＦＢ鴻断指令信号にｊ；っで内蔵Ｊ
るトリップコイルを励磁され、もって稼動部３、制御部
５への給電を止めて工作は械を停止さＵる。NFB13 has a built-in signal for the NFB cutoff command signal.
The trip coil is energized, thereby stopping power supply to the operating section 3 and control section 5, and stopping the machine.

なお、゛電源［信号判定部１１から出力される駆動停止
信号をもってＮ　Ｆ　Ｂ　１３をづくに遮断しない理由
は、遮断と共に発生する火花放電によりＮＣ装置に電気
的な？！ｉ撃が与えられて弱電部分が破損づることを防
止りるためＣ゛あることは言うまでもない。Note that the reason why the NFB 13 is not completely shut off with the drive stop signal output from the power supply signal determining section 11 is because the spark discharge that occurs when the power is shut off causes electrical damage to the NC device. ! Needless to say, C is provided to prevent weak electrical parts from being damaged by shock.

また、上述した電源ｍ断り法は、工作か終γした時にも
適用することができる。Further, the above-described method of turning off the power source m can be applied even when the operation is terminated.

従って上述したＪ、うに、この発明によれば、ＮＣ工作
区械にＪ′３いで、特に軽微な異常ＣあつＣも、異常状
態が所定１４間（Ｔ１　）継続したことを検出しｌこと
きには、ＮＣ装置の駆動停止、ＮＣ装置への給電停止、
ＮＣ工作機械への給電停止の順序で、それぞれ所定時間
を隔てて行ない、ＮＣ工作機械を完全に停止さして異常
原因を除去Ｊるようにしたので、不良加工品の発生率を
抑制でき、且つ工作機械の重大な異常を誘発する恐れも
なく、結果として、異常発生により生産性が低下するこ
とを抑ｆｒｉｌｌづることができる。Therefore, according to the present invention, even if there is a particularly slight abnormality in the NC machine section J'3, it is possible to detect that the abnormal state has continued for a predetermined period of 14 hours (T1). , Stopping the drive of the NC device, Stopping the power supply to the NC device,
The power supply to the NC machine tools is stopped at a predetermined time interval, and the NC machine tools are completely stopped and the cause of the abnormality is removed, which reduces the incidence of defective products and improves the machining process. There is no fear of inducing serious abnormalities in the machine, and as a result, it is possible to suppress a decrease in productivity due to the occurrence of abnormalities.

【図面の簡単な説明】[Brief explanation of drawings]

第１図はこの発明の実施例、第２図（Ａ）〜クト（）は
上記実施例のタイムチＡ７−１−を示す。 （図の主要な部分を表わず旬号の説明）１・・・ＮＧ装
置 １７・・・電源スイツツチ １３・・・Ｎ　Ｆ　Ｂ 特許出願人　　株式会社　ア　マ　ダ 手続補正書（自発） 昭和５８年２月ら日 特許庁長官 若杉和夫殿 １、　事件の表示　特願昭箱５７−１２６６５４号２、
　発明の名称 ＮＣ工作機械の非常時における電源遮断方法３、　補正
をする者 事件との関係　特許出願人 住所（居所）　　神奈川県伊勢原市石田２００番地氏名
（名称）　株式会社　　７７　ダ 代表者　　天　１）　勇 ４、　代理人　　郵便番号　１０５ ２番３号　虎ノ門第１ビル５階 住所　東京都港区虎ノ門１丁目１・番−１８・り二冨−
虎ノー閂ピｙＬｒｆ３階６６　　補正の対象 ｆｌ＋　　明細書の１時許請求の範囲のイ（・飄（２）
明細狽の発明の詳細な説明の欄、（３）明細書の図面の
簡単な説明の欄、（４）図面 ７、補正の内容 （］）明細調の７時許請求の範囲の欄、別紙のとおり補
正する。 （２）明細銅−第２頁第４行目に、 「せずＫに工作作業」 とあるのを、 「せず圧工作作業」 と補正する。 （３）同第５頁第２行目に、 「所定時間（Ｔｌ）Ｌ長い」 とあるのを、 １−所定時間（Ｔ、）より長い」 と補正する。 （４）同第７頁第３行目Ｋ、 ｌ−電源スイツツチ」 とあるのを、 「電源スィッチ」 と補正する。 （５）図面において、第１図を別紙のとおり補正する。 ８、添付書類の目録 （１）補正図面（第１図）　　　　　　　　１通以上 特許請求の範囲 数値制御装置を有する工作機械において、所定時間異常
状態が継続したときＫは、前記数値制御装置の駆動を停
止し、その後予め定められた時間後に前記数値制御装置
への給電経路を遮断して、その後所定時間経過後に前記
工作機械への給電経路を遮断することを特徴とするＮＣ
工作機械の非常時における電源遮断方法。FIG. 1 shows an embodiment of the present invention, and FIGS. 2A to 2D show a timer circuit A7-1 of the above embodiment. (Explanation of the current issue without showing the main parts of the figure) 1... NG device 17... Power switch 13... N F B Patent applicant AMADA Co., Ltd. Procedural amendment (voluntary) 1982 Mr. Kazuo Wakasugi, Commissioner of the Japan Patent Office, February 2015, 1, Indication of Case, Patent Application Box No. 57-126654, 2,
Name of the invention Method for shutting off the power supply in an emergency for NC machine tools 3 Relationship with the case of the person making the amendment Patent applicant address (residence) 200 Ishida, Isehara City, Kanagawa Prefecture Name (name) 77 Da Co., Ltd. Representative Ten 1) Isamu 4, Agent Postal code: 105 2-3 5th floor, Toranomon Building 1 Address: 1-1-1-18 Rijitomi, Toranomon, Minato-ku, Tokyo
Tora no bar pi y Lrf 3rd floor 66 Subject of amendment fl+ Part 1 of the scope of claim in the specification (・飄(2)
Column for detailed explanation of the invention in the specification, (3) Column for brief explanation of drawings in the specification, (4) Drawing 7, contents of amendment (]) Column for claims at 7 o'clock in the detailed statement, Attachment Correct as shown below. (2) Specification of Copper - In the 4th line of page 2, the phrase ``machining work without K'' has been corrected to ``machining work without K''. (3) In the second line of page 5, the phrase ``longer than the predetermined time (Tl)L'' is corrected to read ``longer than 1 - the predetermined time (T, )''. (4) In the third line of page 7, the text "K, l-power switch" is corrected to read "power switch." (5) In the drawings, Figure 1 shall be amended as shown in the attached sheet. 8. List of attached documents (1) Corrected drawings (Fig. 1) In a machine tool having one or more claimed numerical control devices, if an abnormal state continues for a predetermined period of time, K will stop the drive of said numerical control devices. The NC is characterized in that the NC stops, then cuts off the power supply route to the numerical control device after a predetermined time, and then cuts off the power supply route to the machine tool after a predetermined time has elapsed.
How to shut off power to machine tools in an emergency.

Claims (1)

【特許請求の範囲】[Claims] 数値制御装置を有する工作機械において、所定時間異常
状態が継続したときには、前記数値制御装置の駆動を停
止し、その後予め定められた時間後に前記数値制御装置
への給電経路を遮断して、その後所定時間経過後に前記
工作）幾械への給電経路を遮断することを特徴と覆るＮ
Ｃ工作機械の非常時における電源遮断方法。In a machine tool having a numerical control device, when an abnormal state continues for a predetermined period of time, the driving of the numerical control device is stopped, and then the power supply path to the numerical control device is cut off after a predetermined time, and then N that is characterized by cutting off the power supply route to the said machine after a period of time has elapsed.
C. How to cut off power to machine tools in case of emergency.
JP12665482A 1982-07-22 1982-07-22 Power supply cutoff method of nc machine tool under emergency Pending JPS5919654A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP12665482A JPS5919654A (en) 1982-07-22 1982-07-22 Power supply cutoff method of nc machine tool under emergency

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP12665482A JPS5919654A (en) 1982-07-22 1982-07-22 Power supply cutoff method of nc machine tool under emergency

Publications (1)

Publication Number Publication Date
JPS5919654A true JPS5919654A (en) 1984-02-01

Family

ID=14940561

Family Applications (1)

Application Number Title Priority Date Filing Date
JP12665482A Pending JPS5919654A (en) 1982-07-22 1982-07-22 Power supply cutoff method of nc machine tool under emergency

Country Status (1)

Country Link
JP (1) JPS5919654A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0491303A2 (en) * 1990-12-19 1992-06-24 Weiler Werkzeugmaschinen GmbH &amp; Co. KG Means to stop feed in a conventional turning or milling machine
JPH05123937A (en) * 1991-11-01 1993-05-21 Murata Mach Ltd Door open time safety device for machine tool
EP0809822A4 (en) * 1994-09-28 1997-12-03

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5038861A (en) * 1973-08-11 1975-04-10
JPS55166701A (en) * 1979-06-14 1980-12-26 Sanyo Electric Co Ltd Control system

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5038861A (en) * 1973-08-11 1975-04-10
JPS55166701A (en) * 1979-06-14 1980-12-26 Sanyo Electric Co Ltd Control system

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0491303A2 (en) * 1990-12-19 1992-06-24 Weiler Werkzeugmaschinen GmbH &amp; Co. KG Means to stop feed in a conventional turning or milling machine
EP0491303A3 (en) * 1990-12-19 1994-09-28 Weiler Werkzeugmaschinen Gmbh Means to stop feed in a conventional turning or milling machine
JPH05123937A (en) * 1991-11-01 1993-05-21 Murata Mach Ltd Door open time safety device for machine tool
EP0809822A4 (en) * 1994-09-28 1997-12-03
EP0809822A1 (en) * 1994-09-28 1997-12-03 Tetra Laval Holdings & Finance SA Delayed safety braking apparatus for a servomotor control system

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