Distribution spool two-valued valve tandem at logic "eithere or" function

FIELD: control of hydraulically- and pneumatically-operated machines and mechanisms.

SUBSTANCE: proposed spool valve tandem includes two spool valves: inputs of one spool valve are connected with plus signals and inputs of other spool valve are connected with minus signals; pairs of lines of different meaning are formed from outputs by crossing parallel lines; said lines are connected to distributor control lines of independent pneumatic and/or hydraulic drives operating alternately in accordance with control system logic.

EFFECT: enhanced accuracy of control.

5 dwg, 2 tbl

 

The invention relates to the field of engineering, use in the manufacture of devices, machines and mechanisms with pneumatic and hydraulic actuators driven logic elements as a function of distance, time and pressure.

Known single pneumatic and hydraulic distributors flows of compressed air or hydraulic oil high pressure 3/2, 5/2 and 4/2, 4/3 with memory, where the numerator of the fraction indicated the number of lines (input-output) in the body of the spool, and the denominator is the number of positions that can take the spool when switching back and forth on signals from the automation elements: travel valves (“pilots”) YES, NOT for managing the functions of the path, valves sequence (sequence) when running as a function of pressure (process parameter) or from the timer as a function of time and command of logic elements AND, OR “memory” (trigger) circuit diagrams for control. Single valves can be grouped in couple (4/2×2), (3/2×2), switchable at the same time one of the parallel team. However, a disadvantage of single and paired distributors is the inability to embed them logically in the witness closed system of ordinary elements of automation, for example, for the formation of character stroke three mutually perpendicular linear actuators of the manipulator adaptivepath (see, for example, patent RU №2208513 and No. 2224637).

For simple contour tracking by two flat trajectory of the stroke of the working body of the adaptive pneumatic robot cross feed to changes in longitudinal, which requires a change in the direction of the working body by one or another coordinate with the rotation angle γ “on the edge”. The progress of the working body miscoordination flat tilt “on the edge” trajectory tracking angle γ possible with its submission at the same time the two drives. One of them is dominant, the vector quantity of feed which is proportional to cosγand the second additional vector feed rate which is proportional to sinγ.

As for the spatial-contour tracking with declination flat trajectory tracking in the depth of the Cartesian space in the corners α or β with a constant slope of the progress of the working body only on one coordinate, for example Z, occurs simultaneously with the filing of two drives: one - dominant - with the velocity vector, is proportional to cosαzthe meridional direction, and the other more - with the velocity vector, is proportional to sinαyaimed at a depth of Cartesian space. Similarly, when the latitudinal direction (x) of the progress of the working body on a permanent corner β two drives in total is on vector feeding one dominant - with the velocity vector, is proportional to cosβxand second - sinβyalso aimed at a depth of Cartesian space.

If the corners α and β AC, i.e. in addition to the flat curvature “on the edge” has a wave curvature trajectory tracking in the meridional direction (AC corner αand in the latitudinal direction (AC corner β), then the tracking is globular. It requires a gyroscope with integrated working body. In gyro (patent RU №2221689) four drive axis with angular and phase pneumatic hydraulic sensors in the direction and speed linear (named axes of a Cartesian space - X, Y, and Z) and rotary (named rotary angles of the axes of the gyro - α, β, γ, ω) hydraulic actuators. Drive axis gyroscope have a purpose: major axis - “pure rotation” angle γalways perpendicular to the plane of the loop (or the tangent to the convex contour) tracking axis nutations angle α and the axis of the precessions angle βfourth axis manipulation of normal technological tool of the working body at the corner ω relative to the tangent to the wave curvature of the trajectory tracking with declination by AC corner α, AC corner β.

The proposed raspredelitel the e tandems (-4/2+4/2) and (-3/2+3/2) can fit in a pneumatic servo system with all the necessary control logic and to eliminate the aforementioned drawback. So, a tandem-4/2+4/2) distributes the signals to feed the working body “of the cross” (forward-backward), the “longitudinal” to a single distributor of hydraulic actuators mutually perpendicular pairs of linear actuators contour tracking, identifying, respectively, the dominant drive of filing of the working body is the sign of the signal plus and minus two angular pneumat sensors Mz and MX (figa) the direction of linear actuators on the main gyroscopic axis γand the direction of the second additional linear actuator Y in pairs XY and YZ declinations in the corners α and β defines another double tandem (-3/2+3/2) - the signs of pneumat sensors Mon the axis of the nutations (αand Mβ on the axis of the precessions (β) gyro. Third - hydraulic-concealer - to two mutually perpendicular pairs of hydraulic actuators (see tables 1 and 2) - by three-dimensional globular applying the operating authority - AC (longitudinal or latitudinal direction) determines pneumata sensor Mon the main gyroscopic axis γ with outputs differentsialnogo switch DP/2 (figa) and the corresponding connection of the phase hydrotalcites in gidrometallurg logical set (patent RU №2224636).

Tandem (-4/2+4/2) used to change the plane tracking with vertical XOZ on the horizontal XOY (and Vice versa) - see atent RU # 2224637 and table 2 (for castling additional and corrective hydraulic Y and Z).

Tandem (-3/2+3/2) reverse connection is used for the quick response on the probability of collision of the tool with the product when mounting the transverse axis forward due to the rapid change low speed additional drive: Y in the plane XOZ, Z in the plane XOY fast marching speed.

The technical result of the invention is automatic detection system not only mark the direction interdependent linear actuators, but also values composing the total velocity vector of the working body. Axial locking of valves 4/2 and 3/2 compact single variants and manatee, and concepts.

This goal is achieved by the fact that the distribution double tandem spools with the logical function “then...then...”, contains system control valve with memory 4/2×2 and 3/2×2, switched simultaneously to the left or right one parallel command from one or two logical elements with unit two spools (-4/2+4/2) or (-3/2+3/2), in which the pair of inputs to the first valve designed for signals plus and plus and to the second minus and minus two logical the control system elements, each with a pair of razroznennyh outputs, and tandem (-4/2+4/2) to the left is the turn of the outputs of the first valve with the plus sign of the cross in the parallel she held the line with a minus sign from the left line outputs of the second spool, and right line outputs of the first valve with the signs plus similar cross-summed in parallel with the right line outputs of the second valve with a minus sign, forming two pairs razroznennyh lines connected to the two pairs of lines of mechanical control valves two drives with the possibility of interdependent work one, then another drive; tandem (-3/2+3/2) direct connection, when the first spool, a pair of inputs with the signs plus and plus, and a second spool with minus signs and minus, unary outputs of the first and second spools formed two raspoznanie line joining a pair of end lines control valve one drive progress in dependence from one, then from another logic element management system, and in the case of reverse connection, when two single inputs connected pair razroznennyh lines of one logic element, to the outputs - plus-plus and minus-minus cross-connected circuit connection with distribution of the two actuators by analogy with tandem (-4/3+4/2) with alternate work one, then another drive depending on the logical state of one element of the control system.

When considering the essence of the invention it should be borne in mind that:

- the term “bend “on the edge”is, for example, the bending angle γ the flat is th extruded flange of the window opening, and the term “wave curvature - like curves of tape flanging flange of the window opening for some radii in depth Cartesian space (for example, tape flanging of the window opening - body cars) at the corners α meridional, corners β latitude,

- simple contour tracking is the course of the working body, built-in four-axis gyroscope patent RU No. 2221689, along a flat trajectory parallel to the frontal plane tracking

- the frontal plane tracking is called the Cartesian plane space on which to project the largest part of the trajectory tracking

- spatial-contour is tracking on a flat trajectory with one or two permanent slope α and β from planes Cartesian space,

- globular tracking is the course of the working body for spatial circuit bending “on the edge” at the corner of γ trajectory tracking and variable gradients: the meridional direction with nutations for variable angle α and/or latitudinal direction with precessions at a variable angle β,

- normal technological tool of the working body is perpendicular to the tangent wave bending trajectory tracking angle α or/and the angle β. When the contour tracking normal technological tool parallelnavi gyroscopic axis, and its deviation perpendicular to the tangent wave bending angle ω zero

the initial is called the position in which one axis gyroscope parallel and the other perpendicular to the planes of the Cartesian space.

On figa shows a block spools (-4/2+4/2) in the form of two separate valves 4/2, managing mutually perpendicular two by a pair of hydraulic actuators (Z) 7 and (X) 9 simple contour tracking without biases from the planes of the Cartesian space (turns the main gyroscopic axis angle γ see table 1).

On figb the same block spools in tandem coaxial spools of valves 4/2.

On figa shows a block spools (-3/2+3/2) in the form of two separate spools direct connection, managing additional hydraulic (Y) 20 in two mutually perpendicular pairs of spatial-contour and globular tracking (with constant or variable pitch angle α or β see table 1).

On figb the same block spools in the form of a tandem of two coaxial spools 3/2.

Figure 3 shows a diagram of the reverse connection of the tandem (-3/2+3/2) to two distributors, managing turn rotary actuator (DG α) 26 (DG β) 28.

Figure 4 shows part of a schematic diagram dvukhprotonnogo logical air module the management of the three linear actuators with the use of three pairs: two (-4/2+4/2) and one (-3/2+3/2).

Figure 5 shows a portion of a pneumatic control system using the reverse connection circuit tandem (-3/2+3/2) to control fast antidrip response to geometric perturbation.

Presented at Figo schematic diagram of the distribution of double-tandem (T) 1 (-4/2+4/2) (bold lines) is built from two spools (P1) 2 4/2 and (P2) 3 4/2 and shown in the initial position in readiness for mounting the transverse axis forward of the working body to trajectory tracking. To the inputs of the housing of the valve (P1) 2 attached two lines with a plus - one from the angular sensor (Mz) 4, and the other from the sensor (MH) 5. The sensor (Mz) 4 one output with a plus sign at the start position normally open, i.e. is associated with a channel with compressed air and the second output - channel, open to the atmosphere. To the outputs of the casing of valve (P2) 3 attached two lines with a minus sign from the respective outputs of the sensors (MX) 5 and (Mz) 4. Both sensor output (MH) 5 declined in the initial position. (Pz) 6 valve hydraulic (Z) 7, a (Px) 8 - valve hydraulic (X) 9.

To the ends of the spools (P1) 2 and (P2) 3 connected in parallel to the control line “transverse” and “longitudinal” from the control logic. The left output of the valve (P1) 2 with a plus sign attached to the left control line single spread is I (Pz) 6, and right line control valve (Pz) 6 through the right inlet and outlet valve (P2) 3 with a minus sign attached to the corresponding sensor input (Mz) 4 (with a minus sign).

The second output of the valve (P1) 2 plus cross-connected to the control line of the second dispenser (Px) 8 with the plus sign. The opposite end (Px) 8 is connected to the left output (P2) 3 connected to the output line of the sensor (MH) 5 with a minus sign.

Thus defined the direction of the stroke of the working body of the robot from the initial position until filed with the compressed air to the angular sensors on the main axis γ gyro.

A similar distribution two-digit tandem with the logical function “then..., then...” presents the concept on figa (bold lines). Tandem (T1) 10 (-3/2+3/2) consists of two spools (P3) 11 3/2 and (A4) 12 3/2 and shown in the initial position in readiness to cross the flow of the working body to trajectory tracking.

To the inputs of the housing of the valve (A3) 11 attached two lines with a plus sign: one with a plus sign from the angular sensor (Mβ) 13 with gyroscopic axis precessions in the latitudinal direction, and the other with a plus sign from the angular sensor (Mα) 14 gyroscopic axis nutations in the meridional direction.

The minus sign from the same angle sensor two lines respectively connected to the passages of the valve body (A4)12. Single outputs spools (-3/2) and (+3/2) formed two raspoznanie line attached to the end lines of the single control valve (PN) 19 second - additional - drive (Y) 20 pairs of linear hydraulic actuators (X) 9 (Y) 20 and (Y) 20 - (Z) 7 (table 1) progress of the working body by tracking the trajectory in the depth of three-dimensional Cartesian space. Both angular sensor (Mα) 14 and (Mβ) 13 - in the initial locked position.

To the ends of the spools (P3) 11 and (A4) 12 connected in parallel to the switching tandem (T1) 10 from the angular sensor [M3(γ)] 15 (through its valves (OR 1) 16 and (OR 2) 17 specifying signal plus or minus direction of the declination of the progress of the working body on the second coordinate in three-dimensional space of the robot additional actuator (Y) 20, and is connected through the differential valve (BF) 18 4/2, managed with bigger butt team “cross”, and small “longitudinally”.

Figure 3 shows a portion of a schematic circuit control globular catch-up manipulation of the main gyro axis with double tandem (T2) 21 (-3/2+3/2) return connection through the valve (Pα) 25 rotary actuator (DGα) 26 nutations (scheme shown in readiness for the nutations) in the meridional direction, then through the distributor (Pβ) 27 drive (DGβ) 28 precessions in latitudes the MD direction. To raznozvetnimi single inputs spools (P5) 22 and (P6) 23 connected raspoznanie outputs angular pneumology-sensor (Mω) 24 with gyroscopic axis manipulation of normal technological tool of the working body. Paired unambiguous outputs spools (P5) 22 and (P6) 23 tandem (T2) 21 similarly, (T)1 (-4/2+4/2) formed raspoznanie line, cross end connected to the control lines (Pα) 25 and (Pβ) 27. Switching tandem (T2) 21 is provided from valve (OR 1) 16 and (OR 2) 17 pneumology sensor [M3(γ)] 15 main gyroscopic axis γ.

The application of the second tandem (T3) 29 (-3/2+4/2), bold lines and a double dotted line in figure 4, solves the problem, reflected in table 2: actuator rockiroads with the change of the frontal plane on signals xoz and HOU from jesdaporn part of the control system.

Figure 5 in the form of a pneumatic diagram shows part of the circuit from figure 4 - tandem (T3) 29-driven signals xoz and HOU (taken as in figure 4, in a double-dotted Prampolini), and tandem (T4) 33 encircled by bold lines. It consists of spools (P9) 34 and (a10) 35.

In scheme 4 added kapany (OR 4...9) 36...41 and two spring-loaded to hydrophilicities NOT (A11 and A12) 42 and 43.

The distribution of double tandems is as follows.

Simple contour tracking two-dimensionally parallel to the plane XOZ.

When the operator enables the start button, the compressed air is connected to one of the corner sensors (Mz) 4 and (MH) 5 (figa), from the output plus the angular sensor (Mz) 4 signal comes through the left entrance “plus” valve (P1) 2 tandem (T) 1 (-4/2+4/2) to the left end face of the distributor (Pz) 6 4/3 that of the neutral position switch to the right. Linear actuator (Z)7 makes transversal approach to trajectory tracking x-X. From the probes of the working body, reach the surface tracking through the respective sensors is transferred command changes (shifts) in the direction transverse to the longitudinal stroke. Disappears signal “cross” from the logical system, and a signal “longitudinally” which switches the tandem (T) 1 left. Now from the release of “plus” angular sensor (Mz) 4 signal “plus” comes through the right outlet valve (P1) 2 to the end face of the distributor (Px) 8 with a plus sign, which switches it to the left from the neutral position. Is the first reshuffle of the destination (name) corner sensor (Mz) 4. Its signal plus switched (Px) 8 (dispenser (Pz) returned to the neutral position), and longitudinal began working the witness submission of the working body of the linear actuator X in the direction of plus X.

When the outline of the trajectory tracking with coordinates x-x turns to another z-z, triggered the safety probe of the working body, and the sensor is giving a command to “pure rotation” main gyroscopic axis angle γ . This rotation unlocks the angular sensor (MH) 5, from which the signal plus through the left output (P1) 2 (P1 is switched to the left) again comes to the left end (Pz) 6. Comes the second reshuffle of the destination (name) now angle sensor (MH) 5, because its signal plus switched (Pz) 6. The role of dominant from the actuator (X) 9 with the rotation of the main axis of the gyro angle γ gradually passes to the actuator (Z) 7, and when the angle y will be equal to 90°, locked angular sensor (Mz) 4, and the signal from the sensor (MH) 5 maintains the state (Pz) 6 for dominant stroke of the actuator (Z) 7. Drive (X) 9 progress stops, since (Px) 8 since the lock angle sensor (Mz) 4 returns to the neutral position.

Contour tracking flat trajectory with two slope - constant meridional corner α and latitudinal constant corner β.

In addition to the above changes with the appointment of angular sensors Mx Mz and dominant moves (table 1) pair of mutually perpendicular linear actuators (cross-title: (MH) 5 controls the actuator stroke (Z) 7, a (Mz) 4 - stroke actuator (X) 9) to track the spatial trajectory of the working body connected to the second linear actuator (Y) 20 issuing a correction for declination of the trajectory at a constant slope that is proportional to the corner α, corner β.

It was noted above that the main axis of the gyroscope (γ) is when perpendicular to the plane of the path of the trajectory. Therefore, even when adjusting it with the remote manual control produced manipulation and corner αand on the corner β. This means that were unlocked angular sensors (Mα) 12 and (Mβ) 11 (figa). When tracking is on the Z coordinate (in the meridional direction), the declination of the trajectory tracking is proportional to the slope angle α. Figa also shown in the ready state to the transverse axis. But cross flow parallel to the trajectory projected onto the coordinate (Z) 7, therefore, when the transverse axis participates drive (Y) 20, which influence the trajectory in the meridional direction is proportional to the slope angle α.

Signals plus from the angular sensor [MoH(γ)] 15 figa tandem (T1) 10 (-3/2+3/2) is kept shifted to the left (from the valve (OR 1) 16 through a differential switch (APS) 18 signal plus operates in parallel on the right ends of the spools (P3) 11 and (A4), 12). The signal plus from the angular sensor (Mβ)13 blocked, and from the angular sensor (Mα) 14 signal plus passes to the left end face of the distributor (PN) 19, which is switched from the neutral position to the right. Linear actuator (Y) 20 simultaneously with the transverse flow of the dominant drive (Z) 7 gives the declination of the trajectory of the working body of the inclination angle of α.

When you first reshuffle made that what denom (T) 1 (-4/2+4/2) (figa), with variable cross feed drive (Z) 7 on the longitudinal drive (X) 9 signal plus [MoH(γ)] 15 requireda team (PD) 18, changing locks angular sensors: (Mα) 14 is blocked, and from (Mβ) 13 signal plus can give the distributor (Ru) 19 negative stroke depending on the preliminary rotation axis nutations (βwhen adjusting.

When pure rotation of the main gyro axis angle γ tracking “on the edge” on a slant path in the latitudinal-longitudinal direction angle sensor [MoH(γ)] 15 does not change the plus sign to the turn on angle γ<45°but at the beginning of the angular interval of 45...90° signal plus the jump goes to the valve (OR 2) 17, and is another rotirovatsya change tandem (-3/2+3/2) - rotation lock signals from (Mα) 14 (Mβ) 13 conversely, if further contouring speed main gyroscopic axis γ (table 3). The signals are a sign of the plus, minus.

Table 3.
Change (shift) of the sign of the signal from the [MoH(γ)] 15 declination contour trajectory tracking “on the edge” drive (Y) 20 depending on the net rotation of the main gyro axis angle γ.
 Turn the main gyroscopic axis angle γ
Angle γThe initial position of 0°45°90°180°270°360°
The value of the mark from the[MoH(γ)]15 and the direction of the declination “on the edge” drive(Y) 2000...+ (change abruptly)+0(-)0

Globular tracking.

When the wave deviation of the trajectory tracking from the frontal plane (wave depression or bulging of the trajectory) probe, ahead of the technological tool rises (falls) and between the front and rear sensors, you receive the error. Technological tool loses the normal to the tangent wave bending the trajectory of the stroke position, which is possible only within a certain tolerance zone. The logical system, in an effort to resolve the mismatch, takes on the rotary drive axis ω manipulation of normal technological instrument signal to correct the error. Is manipulation (rotation) of the normal to the perpendicular to the tangent wave bending of the trajectory.

For example, the plane of the welding tongs (passing through the axes of symmetry of departure and the point contact electrodes for welding) when disagreement turns privatemodifieroffset this plane around the axis ω running parallel to the axes of the departures of the electrodes through the point of their joining. On this axis is the angular sensor (Mω) 24 (3) another error: the deviation of the main gyro axis γ from the plane of ticks on the corner α or β (α - meridional direction, β - pulse).

Drive (DG β) 28 on the axis β or (DG α) 26 on the axis α (3) (on command from the angular sensor (Mω) 24 on the axis of the manipulation of normal technological tool) logical system tends progressively to return home gyroscopic axis in a state of alignment with the plane of ticks. This is necessary in order to transition tracking from one coordinate to another home gyroscopic axis would be perpendicular to the plane of the corner of the net rotation angle γ to go to the latitudinal-longitudinal (or Vice versa) part of the trajectory tracking.

Variable angle subsequent tangent with respect to the tangent of the previous wave radius of curvature of the trajectory tracking forces to continuously manipulate the main axis, so she chased the plane of the welding tongs, minimizing misalignment translational manipulation axis γ the actuator (DG α) 26 on the axis of the nutations, the actuator (DG β) 28 on the axis of the precessions of the gyroscope.

Change the frontal plane of clejani is.

Shown in figa 2A and examples of the application of two types of distributive double tandems (-4/2+4/2) and (-3/2+3/2) solve problems odnovremenno operation of the robot in the plane XOZ. If, for example, a conveyer body or cab hire axis x-x parallel to the direction of the production flow, the axis z-z forms with the axis x-x of the vertical frontal plane XOZ and the axis y-y parallel to the depth of the front.

In the production of major parts of bodies and cabs at a sufficiently large quantum of their issue, the problem arises diverse tracking trajectories of the progress of the working body in a row on several recurring transitions operation in vertical planes XOZ and then repeated several passages requiring an automatic change tracking probes for operation in adjacent horizontal frontal plane tracking XOY (table 2).

When changing the frontal plane tracking changes (requireda) the appointment of a linear three-coordinate actuators of the manipulator adaptive robot. When working in turn with the plane XOZ, the plane XOY, one working body with one technological tool in tables 1 and 2 requireda purpose linear actuators Z and Y, but the drive X remains in two mutually perpendicular pairs of drives.

When changing the front PLoS is barb hunt, you need to use third tandem (T4) 32 (-3/2+3/2) (reverse connection) in the logical block rapid response to geometric perturbations (figure 1), which could cause a collision technological tool with the product when the transverse axis.

In proximity of the tool with the product during the cross feed works set forward of the tool, a pair of probes, simultaneously issuing a signal to the logic control system of the convexity of the trajectory tracking (± in the direction of turn of the second complementary drive).

He rockiroads: it is the drive (Y) 20 (table 1) when working in the planes XOZ (scheme shown in this position), the additional actuator is the actuator (Z) 7 in a plane XOY.

Raspoznanie outputs of tandem connected to the control lines allocators (A11) 42 and (A12) 43 from the logical system that outputs signals of danger of collision from the sensors of the safety probe. For example, if the danger signals from the left output “plus” left spool (P9) 34 (right output plus signal (xoz) 44 blocked) pass valve through (OR 4) 36 to the plus side of the distributor (PN) 19 and in parallel through the valve (ILI) 40 to hydroponically (A11) 42 (NO) normally open line which directly brings pressure to raspredeliteli (Ru) 19 4/3 through a throttle step (R) 47 - feed with slow technological speed), the switch (A11) 42, pressing the spring, switches to the right and connects the line D hydrotasmania with the dross is eat (R) 46 - small resistance for quick response with marching speed transverse drive (Y) 20. Similarly, the system responds to the control signals a danger of collision with the product in the frontal plane tracking XOY switching tandem (T4) 33 left team (HOU) 45 when to respond should an additional (cross flow) hydraulic drive Z (7).

Distribution double tandem spools with the logical function “then...then...”, contains system control valve with memory 4/2×2 or 3/2×2, switched simultaneously to the left or right one parallel command from one or two logical elements, characterized in that it is equipped with a block of two spools (-4/2+4/2) or (-3/2+3/2), in which the pair of inputs to the first valve designed for signals plus and plus and one minus one and minus two logical elements of the system control, each with a pair of razroznennyh outputs, and tandem (-4/2+4/2) to the left line outputs of the first valve with the plus sign of the cross in the parallel she summed up the line with a minus sign from the left line outputs of the second spool, and the right line outputs of the first valve with a plus sign similar cross-summed in parallel with the right line outputs of the second valve with a minus sign, forming two pairs razroznennyh lines, connection is by a pair of two lines of mechanical control valves two drives with the possibility of interdependent work one, other actuator; tandem (-3/2+3/2) direct connection, when the first spool, a pair of inputs with a plus sign and a plus, and a second valve - minus and minus, unary outputs of the first and second spool is formed of two raspoznanie line joining a pair of end control lines of the distributor one drive progress in dependence from one, then from another logic element management system, and in the case of reverse connection, when two single inputs connected pair razroznennyh lines of one logic element, it outputs plus-plus and minus-minus cross-connected circuit connection with distribution of the two actuators by analogy with tandem (-4/2+4/2) with alternate work one, then another drive depending on the logical state of one element of the control system.



 

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