Waterjet and clutch system for same

Abstract

The waterjet system includes a pump configured to pump an inlet water supply into a pressurized fluid, an electric motor configured to drive the pump, a cutting bed configured to receive a workpiece to be cut, and a cutting head configured to expel the pressurized fluid from the pump through an outlet nozzle as a high-velocity jet into the cutting bed to cut the workpiece. The electric motor is coupled to the pump by a clutch mechanism. The clutch mechanism is configured to selectively disengage the electric motor from the pump, under control of one or more controllers, to stop pumping the inlet water supply into the pressurized fluid.

Description

Attorney Docket No.: 082571.00021WATERJET AND CLUTCH SYSTEM FOR SAMECROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to U.S. Application No. 63 / 685,460, filed August 21, 2024, the entire disclosure of which is hereby incorporated by reference herein.FIELD OF THE DISCLOSURE

[0002] The disclosure relates to waterjet systems, including waterjets that expel a high velocity stream of fluid for cutting a workpiece.BACKGROUND OF THE DISCLOSURE

[0003] Waterjet systems convert high-pressure water into a high velocity water stream in an effort to erode the material that it is directed at. An abrasive may be present in this high velocity water stream. Such an abrasive may improve the cutting speed or expand the range of materials that can be cut. Waterjet technology is well known in the manufacturing industry due to its advantages over other cutting systems, such as its ability to cut a diverse range of workpiece materials and lack of induced thermal stress on a workpiece.

[0004] Waterjet systems regularly shut off pressure to the cutting head throughout the length of a cut job between disconnected cut segments. A high-pressure valve can be used to interrupt the fluid path to not allow the water to flow to the cutting head. However, this flow generally needs to be rerouted to prevent heavy stress on the pump and other components of the high-pressure system. Since this interruption can happen a few dozen or hundred times in just the span of a single cutting operation on the wateijet, a diversion system must w ithstand tens of thousands of on / off cycles over the life of the system. In addition, simply cutting off the power to the motor would induce further stress on the system due to large startup loads that would be produced with each shutoff. In addition, hazard certification guidelines may require for flow to cease less than 1 second from a shutoff command, which further constrains water shutoff mechanisms. Due to the significant inertia of the motor, complete shutoff of flow within one second may not be feasible.

[0005] Typical wateijet systems that operate at less than 30 ksi include an unloader with a flow bypass mechanism that can control pressure and shutoffs, which directs pumpedAttorney Docket No.: 082571.00021 water flow to a different location. However, these mechanisms rapidly deteriorate under the flow conditions of a waterjet system. Typical waterjets that operate at greater than 30 ksi include complex hydraulic manifolds and electrical control systems that are configured to divert flow, control AC motors, and control cutting head flow rates. However, these mechanisms are highly complex and generally cost prohibitive.

[0006] Therefore, what is needed is an improved mechanism for waterjet pressure control.SUMMARY OF THE DISCLOSURE

[0007] An embodiment of the present disclosure provides a wateij et system. The waterjet system may comprise a pump configured to pump an inlet water supply into a pressurized fluid. The wateij et system may further comprise an electric motor configured to drive the pump. The wateij et system may further comprise a cutting bed configured to receive a workpiece to be cut. The wateij et system may further comprise a cutting head configured to expel the pressurized fluid from the pump through an outlet nozzle as a high- velocity jet into the cutting bed to cut the workpiece. The electric motor may be coupled to the pump by a clutch mechanism. The clutch mechanism may be configured to selectively disengage the electric motor from the pump, under control of one or more controllers, to stop pumping the inlet water supply into the pressurized fluid.

[0008] In some embodiments, the clutch mechanism may comprise a rotor coupled to an output shaft of the electric motor. The clutch mechanism may further comprise an armature coupled to an input shaft of the pump. The armature may comprise a ferromagnetic material. The clutch mechanism may further comprise a field coil configured to generate a magnetic flux to engage the armature with the rotor, such the output shaft of the electric motor drives the input shaft of the pump.

[0009] In some embodiments, the rotor may be coupled to the output shaft of the electric motor by a pulley.

[0010] In some embodiments, the field coil may be connected to the pump around the input shaft.Attorney Docket No.: 082571.00021

[0011] In some embodiments, the armature may be axially movable between an engaged position and a disengaged position. The armature may be engaged with the rotor in the engaged position and the armature may be disengaged from the rotor in the disengaged position. The magnetic flux generated by the field coil may be configured to move the armature to the engaged position.

[0012] In some embodiments, the armature may be biased to the disengaged position. The magnetic flux generated by the field coil may be configured to overcome the bias to move the armature to the engaged position.

[0013] In some embodiments, the clutch mechanism may further comprise a bearing disposed between the armature and the rotor, such that that the rotor may be configured to freely rotate relative to the armature in the disengaged position.

[0014] In some embodiments, the one or more controllers may be configured to control the field coil to generate the magnetic flux to selectively engage the armature to the rotor.

[0015] In some embodiments, the one or more controllers may be further configured to control the electric motor to continue to drive the output shaft while the armature is disengaged from the rotor between cutting segments of the workpiece.

[0016] In some embodiments, the waterjet system may further comprise a check valve in fluid communication with an outlet port of the pump and an inlet of the cutting head. The check valve may be configured permit fluid flow at a pressure higher than a preset threshold. The pressure of the pressurized fluid may be greater than the preset threshold when the pump pumps the inlet water supply into the pressurized fluid, and the pressure of the pressurized fluid may be less than the preset threshold when the pump stops pumping the inlet water supply into the pressurized fluid.

[0017] In some embodiments, the waterjet system may further comprise a supply valve in fluid communication with a fluid source and an inlet port of the pump. The supply valve may be further configured to control fluid flow from the fluid source to the pump.Attorney Docket No.: 082571.00021

[0018] In some embodiments, the one or more controllers may be further configured to control the supply valve to restrict fluid flow from the fluid source to the pump when the clutch disengages the electric motor from the pump.

[0019] In some embodiments, the pump may be configured to pump the inlet water supply into the pressurized fluid at a pressure between 2,000 psi and 25,000 psi and a flow rate between 1 L / min and 5 L / min.

[0020] In some embodiments, the clutch mechanism may be configured to disengage the electric motor from the pump to stop pumping the inlet water supply into the pressurized fluid in less than 1 second.DESCRIPTION OF THE DRAWINGS

[0021] For a fuller understanding of the nature and objects of the disclosure, reference should be made to the following detailed description taken in conjunction with the accompanying drawings, in which:FIG. 1 is a schematic diagram of a waterjet system according to an embodiment of the present disclosure;FIG. 2 is a partial section view of a clutch according to an embodiment of the present disclosure;FIG. 3 is a partial section view of a wateqet system according to another embodiment of the present disclosure; andFIG. 4 is a schematic diagram of a waterjet system according to another embodiment of the present disclosure.DETAILED DESCRIPTION OF THE DISCLOSURE

[0022] Although claimed subject matter will be described in terms of certain embodiments, other embodiments, including embodiments that do not provide all of the benefits and features set forth herein, are also within the scope of this disclosure. Various structural, logical, process step, and electronic changes may be made without departing from the scope of the disclosure. Accordingly, the scope of the disclosure is defined only by reference to the appended claims.Attorney Docket No.: 082571.00021

[0023] The waterjet system of the present disclosure includes a clutch mechanism to provide power disengagement / engagement to a pump that powers a waterjet cutting stream. The clutch may be electronic, such as an electromagnetic clutch. In some embodiments, other types of clutch mechanisms may be used, such as, for example, a friction clutch, a positive engagement clutch, a hydraulic clutch, or a pneumatic clutch. The clutch may be provided between the power device (i.e., an AC motor) and the load device (i.e., a hydraulic pump). The power transfer between the motor and the pump can be done in a direct in-line transfer (i.e., shaft to shaft) or through a transmission (i.e., belts, gears, etc.).

[0024] During the disengagement period (no hydraulic power being generated) water is not pumped by the high-pressure pump, but water may still go through the system due to a non-zero inlet pressure being fed to the high-pressure pump. Complete shut-off of water flow can be achieved by a check valve that opens at pressures greater than the line pressure required or a supply valve that can intermpt inlet water into the high-pressure pump (e.g., a low-pressure valve or a pump that acts as a supply.

[0025] The present disclosure may address the problems of the related art by keeping the electric motor running throughout a cut, as well as shutting off cutting capability from cutting head in a safe and reliable way. The use of a clutch, for example, an electronic or an electromagnetic clutch, to decouple the power between the electric motor and the hydraulic high-pressure pump provides a unique high-pressure subsystem construction to a waterjet cutter that can reduce cost and complexity of the system. For example, this can allow for components to be eliminated or replaced with simpler and cheaper components, which can reduce the costs of the overall system and increase reliability.

[0026] FIG. 1 illustrates a schematic diagram of a waterjet system 100 according to an embodiment of the present disclosure. The waterjet system 100 may comprise a pump 110 configured to pump an inlet water supply 101 into a pressurized fluid 102, an electric motor 120 configured to drive the pump 110, and a cutting head 130 configured to expel the pressurized fluid 102 from the pump 110 through an outlet nozzle 131 as a high-velocity j et 103. The pump 110 may be configured to pump the inlet water supply 101 into the pressurized fluid 102 at a pressure between 2,000 psi and 25,000 psi or between 4,000 psi and 20.000 psi. and a flow rate between 1 L / min and 5 L / min or between 2L / min and 4 L / min. The waterjet system 100 may further include a cutting bed 140 configured to receive aAttorney Docket No.: 082571.00021 workpiece 141 to be cut, and the high-velocity jet 103 can be directed through the outlet nozzle 131 of the cutting head 130 into the cutting bed 140 to cut the workpiece 141. The electric motor 120 may be coupled to the pump 110 by a clutch 150 that is configured to selectively disengage the electric motor 120 from the pump 1 10 to stop pumping the pressurized fluid 102. The clutch 150 may be under control of one or more controllers 160. A more detailed example of a suitable waterjet system according to embodiments of the present disclosure can be found in U.S. Patent No. 10.981,259, issued April 20, 2021, the entire disclosure of which is hereby incorporated by reference herein.

[0027] FIG. 2 illustrates a partial section view of a clutch 150 according to an embodiment of the present disclosure. The clutch 150 may comprise a rotor 151 coupled to an output shaft 121 of the electric motor 120, an armature 152 coupled to an input shaft 11 1 of the pump 110, and a field coil 153 configured to generate a magnetic flux. The armature 152 may include an input shaft adapter 156 configured to receive a portion of the input shaft 111 of the pump 110 to couple the armature 152 to the input shaft 111. The field coil 153 may be connected to the pump 1 10 around the input shaft 111. For example, the clutch 150 may further comprise a fastening plate 157 configured to mount the field coil 153 to the pump 110. The armature 152 may be comprised of a ferromagnetic material, such that the magnetic flux generated by the field coil 153 is configured to engage the armature 152 with the rotor 151 so that the output shaft 121 of the electric motor 120 can drive the input shaft 1 1 1 of the pump 110 to pump the inlet water supply 101 into pressurized fluid 102. When the armature 152 is disengaged from the rotor 151, the pump 110 may stop pumping the inlet water supply 101 into the pressurized fluid 102.

[0028] In some embodiments, the arrangement of the clutch 150 may be reversed, e.g., the rotor 151 may be coupled to the input shaft 111 of the pump 110, and the armature 152 may be coupled to the output shaft 121 of the electric motor 120.

[0029] The armature 152 may be axially movable between an engaged position and a disengaged position. In the engaged position, the armature 152 may be engaged with the rotor 151. In the disengaged position, the armature 152 may be disengaged from the rotor 151. The magnetic flux generated by the field coil 153 may be configured to move the armature 152 axially to the engaged position.Attorney Docket No.: 082571.00021

[0030] The armature 152 may be biased to the disengaged position. For example, the clutch 150 may further comprise one or more springs 154 configured to bias the armature 152 in the axial direction to the disengaged position. The magnetic flux generated by the field coil 153 may be configured to overcome the bias of the one or more springs 154 to axially move the armature 152 to the engaged position.

[0031] The clutch 150 may further comprise a bearing 155 disposed between the armature 152 and the rotor 151. The rotor 151 may be configured to freely rotate relative to the armature 152 in the disengaged position via the bearing 155.

[0032] The one or more controllers 160 may be configured to control the field coil 153 to generate the magnetic flux to selectively engage the armature 152 to the rotor 151.For example, the one or more controllers 160 may be configured to send one or more control signals to the field coil 153 to generate a magnetic flux that is sufficient to move the armature 152 to engage the rotor 151. The one or more controllers 160 may be further configured to control the electric motor 120 to drive the output shaft 121. For example, the one or more controllers 160 may be configured to send one or more control signals to the electric motor 120 to drive the output shaft 121. The electric motor 120 may be configured to drive the output shaft 121 while the armature 152 is disengaged from the rotor 151. Accordingly, the armature 152 can be disengaged to stop the pump 110 from pumping the inlet water supply 101 into the pressurized fluid 102 between cutting segments of the workpiece 141, and reengaging the armature 152 to the rotor 151 may cause the pump 110 to pump the inlet water supply 101 into the pressurized fluid 102 to continue cutting the workpiece 141.

[0033] FIG. 3 illustrates a partial section view of a waterjet system 100 according to an embodiment of the present disclosure. The clutch 150 can slide onto the input shaft 111 of the pump 110 and can be bolted directly to the body of the pump 110. The rotor 151 can be coupled to the output shaft 121 of the electric motor 120 by a pulley (not shown) to drive the rotor 151 by the pulley and power the pump 110 when the armature 152 is engaged with the rotor 151.

[0034] The decoupling of the power to the high-pressure pump 110 with the clutch 150 is safe to the hydraulic subsystem as there is no risk of pressure spikes occurring to any of the hydraulic system since the power cut is coming upstream of the source that can causeAttorney Docket No.: 082571.00021 the damage (i.e., high-pressure pump 110). Additionally, by cutting the power in this location, the primary inertia in the wateijet system 100 is the momentum of the high-pressure pump 110 and the components of the clutch 150 directly mounted to the input shaft 111 of the pump 110. This inertia is trivial and the hydraulic power that is created from it is only milliseconds in length, and therefore the cutting stream (i.e., the high-velocity jet 103) is stopped well within the 1 second safety limit that is required to be safety certified.

[0035] With the clutch 150 of the present disclosure, the need for a high-pressure valve that is capable of shutting off thousands of psi to the cutting head 130 can be entirely eliminated. These high-pressure valves are usually expensive and require large electrical solenoids to actuate or additional environmental infrastructure like compressed air. However, their elimination does not eliminate the need to have a valve present somewhere in the water supply path as the inlet water supply 101 would otherwise keep flowing through the wateijet system 100. However, the requirements and complexity of the valve are reduced to only having to shutoff standard supply pressure (less than 100 psi). This can be addressed by valving on the high-pressure side of the pump 110 (i.e., between the pump 110 and the cutting head 130) and / or on the low-pressure side of the pump 110 (i.e., before the pump 110).

[0036] FIG. 4 illustrates a schematic diagram of a waterjet system 100 according to another embodiment of the present disclosure. On the high-pressure side of the pump 110, a one-w ay valve capable of holding back greater than supply pressure may be provided somewhere in the downstream location of the high-pressure pump 110. For example, the waterjet system 100 may further comprise a check valve 104 in fluid communication with an outlet port of the pump 1 10 and the inlet of the cutting head 103. The check valve 104 may be configured permit fluid flow at a pressure higher than a preset threshold. This can be a simple spring-loaded mechanical valve that opens whenever the pressure exceeds a predefined threshold above the supply pressure (e g., 150 psi). Accordingly, the pressure of the pressurized fluid 102 may be greater than the preset threshold when the pump 100 pumps the inlet water supply 101 into the pressurized fluid 102, and the pressure of the pressurized fluid 102 may be less than the preset threshold when the pump 110 stops pumping the inlet water supply 101 into the pressurized fluid 102 (i.e., the pressure at the outlet of the pump 110 is less than or equal to the supply pressure of the inlet water supply 101). The body ofAttorney Docket No.: 082571.00021 the check valve 104 may be configured to withstand the operating parameters of the waterjet system 100 (e.g.. a pressure of 7,400 psi and a flow rate of 2.5 L / min), but the pressure threshold of the check valve 104 can reduce the complexity and cost to perform this function. In some embodiments, a high-pressure shutoff valve can also be included in place of the check valve 104.

[0037] On the low pressure supply side to pump 110, a water supply shutoff device can be provided. For example, the waterjet system 100 may further comprise a supply valve 106 in fluid communication with a fluid source 105 and an inlet port of the pump 110. The supply valve 106 can be configured to control fluid flow from the fluid source 105 to the pump 110. For example, the one or more controllers 160 can be further configured to activate and deactivate the supply valve 106 at approximately the same time as the clutch 150 or cut initiation and shutdown to restrict fluid flow from the fluid source 105 to the pump 110 when the clutch 150 disengages the electric motor 120 from the pump 110. The precise timing can vaiy. to prevent continuous water flowing through the waterjet system 100 and into the water tank surrounding the cutting bed 140. The supply valve 106 may be an electromechanical solenoid, a water pump that doesn’t allow line pressure through, or any other device that would prevent water from flowing through the hydraulic system.

[0038] The aterjet system 100 of the present disclosure may have the abi lit to eliminate unloader / bypass components as well as high-pressure valves. This can reduce the price of the w ateijet system 100 by eliminating numerous expensive high-pressure components, increase the reliability of the high-pressure subsystem and machine as a whole due to the elimination of components that need to withstand high-pressure flows and also perform critical functions like shut off that flow, and increase the efficiency of the subsystem as measured by input powder (AC electrical power consumption) to hydraulic cutting power out (the primary7function of a waterjet). This is a result of having less components in the flow path of the high-pressure system, thereby gaining back all the losses that each one would create. The clutch 150 may be configured to disengage the electric motor 120 from the pump 110 to stop pumping the inlet water supply 101 into the pressurized fluid 102 in less than 1 second, which complies with safety' certification guidelines.

[0039] Waterjet cutting machines are typically powered with AC motors that are controlled by complex electronics such as variable frequency drives (VFDs) in order to haveAttorney Docket No.: 082571.00021 speed control. As a secondary function, these VFDs typically help address wear problems on electronics during the power on / off cycles and therefore make the electronic components last longer. However, according to embodiments of the present disclosure, the clutch 150 may allow the waterjet system 100 not to have a VFD, thereby saving cost.

[0040] Waterjet cutting systems typically operate at extremely high pressures, such as 30.000-90.000 psi (30-90 ksi). At these pressures, it is crucial to prevent the water lines from experiencing large pressure cycles during pauses and traverses between cut segments. These high-pressure spikes cause stress and fatigue on the high-pressure lines, leading to failure.Therefore, a high-pressure valve typically must be located at the cutting head, and the upstream pressure must be maintained close to the cutting pressure. This ensures that when the valve opens, it does not undergo a large pressure cycle.

[0041] Removing the high-pressure valve in a traditional high-pressure waterj et system and using an electronic clutch to cut off hydraulic power could greatly increase maintenance. Even with the high-pressure valve in place, incorporating an electronic clutch in a high-pressure system could pose issues, as the pump may need to remain operational to keep the lines pressurized.

[0042] However, according to the present disclosure, the pump 110 may operate at much lower pressures, such as 2,000-25,000 psi or 4,000-20,000 psi, where the above issues are less significant. Consequently, the lines can tolerate the pressure cy cles without rapid fatigue failure. Moreover, according to embodiments of the present disclosure, the pump 110 may run at a fixed speed (e.g.. without a VFD) and operating point, as well as at a lower pressure relative to a traditional high-pressure system. Thus, incorporating a clutch 150 as described herein can offer unique advantages in a low-pressure waterjet system.

[0043] An embodiment of the present disclosure provides a wateijet cutting method, which utilizes the clutch 150 of the wateijet cutting system 100 described above. The method may comprise cutting the workpiece 141 with the high-velocity jet 103 expelled from the outlet nozzle 131 of the cutting head 130, disengaging the electric motor 120 from the pump 110 with the clutch 150, under control of the one or more controllers 160, to stop pumping the inlet water supply 101 into the pressurized fluid 102 and stop cutting the workpiece 141, and re-engaging the electric motor 120 to the pump 110 with the clutch mechanism 150,Attorney Docket No.: 082571.00021 under control of the one or more controllers 160, to resume pumping the inlet water supply 101 into the pressurized fluid 102 and resume cutting the workpiece 141. The steps of the waterjet cutting method may be repeated to stop and resume cutting different segments of the workpiece 141 in a fast and repeatable manner, without turning off the electric motor or using complex electronics or high-pressure valves.

[0044] Although the present disclosure has been described with respect to one or more particular embodiments, it will be understood that other embodiments of the present disclosure may be made without departing from the scope of the present disclosure. Hence, the present disclosure is deemed limited only by the appended claims and the reasonable interpretati on thereof.

Claims

Attorney Docket No.: 082571.00021WHAT IS CLAIMED IS:

1. A waterj et system comprising: a pump configured to pump an inlet water supply into a pressurized fluid; an electric motor configured to drive the pump; a cutting bed configured to receive a workpiece to be cut; and a cutting head configured to expel the pressurized fluid from the pump through an outlet nozzle as a high-velocity jet into the cutting bed to cut the workpiece; wherein the electric motor is coupled to the pump by a clutch mechanism that is configured to selectively disengage the electric motor from the pump, under control of one or more controllers, to stop pumping the inlet water supply into the pressurized fluid.

2. The wateijet system of claim 1, wherein the clutch mechanism comprises: a rotor; an armature comprising a ferromagnetic material, wherein one of the rotor and the armature is coupled to an output shaft of the electric motor, and the other of the rotor and the armature is coupled to an input shaft of the pump; and a field coil configured to generate a magnetic flux to engage the armature with the rotor, such that the output shaft of the electric motor drives the input shaft of the pump.

3. The wateijet system of claim 2, wherein the rotor is coupled to the output shaft of the electric motor by a pulley.

4. The wateijet system of claim 2, wherein the field coil is connected to the pump around the input shaft.

5. The w aterjet system of claim 2, wherein the armature is axially movable between an engaged position and a disengaged position, the armature being engaged with the rotor in the engaged position and disengaged from the rotor in the disengaged position, and the magnetic flux generated by the field coil is configured to move the armature to the engaged position.Attorney Docket No.: 082571.000216. The w aterjet system of claim 5, wherein the armature is biased to the disengaged position, and the magnetic flux generated by the field coil is configured to overcome the bias to move the armature to the engaged position.

7. The wateijet system of claim 5, wherein the clutch mechanism further comprises a bearing disposed between the armature and the rotor, such that that the rotor is configured to freely rotate relative to the armature in the disengaged position.

8. The wateijet system of claim 2, wherein the one or more controllers are configured to control the field coil to generate the magnetic flux to selectively engage the armature to the rotor.

9. The w aterjet system of claim 2, wherein the one or more controllers are further configured to control the electric motor to continue to drive the output shaft while the armature is disengaged from the rotor between cutting segments of the workpiece.

10. The w aterjet system of claim 1, further comprising: a check valve in fluid communication with an outlet port of the pump and an inlet of the cutting head, wherein the check valve is configured permit fluid flow at a pressure higher than a preset threshold, the pressure of the pressurized fluid being greater than the preset threshold when the pump pumps the inlet water supply into the pressurized fluid and less than the preset threshold when the pump stops pumping the inlet water supply into the pressurized fluid.

11. The wateget system of claim 1, further comprising: a supply valve in fluid communication with a fluid source and an inlet port of the pump, wherein the supply valve is configured to control fluid flow from the fluid source to the pump.

12. The w aterjet system of claim 11, wherein the one or more controllers are further configured to control the supply valve to restrict fluid flow from the fluid source to the pump when the clutch disengages the electric motor from the pump.Attorney Docket No.: 082571.0002113. The waterjet system of claim 1, wherein the pump is configured to pump the inlet water supply into the pressurized fluid at a pressure between 2,000 psi and 25,000 psi and a flow rate between 1 L / min and 5 L / min.

14. The wateijet system of claim 1, wherein the clutch mechanism is configured to disengage the electric motor from the pump to stop pumping the inlet water supply into the pressurized fluid in less than 1 second.

15. The wateijet system of claim 1, wherein the pump is configured to operate at a single speed without a variable frequency drive (VFD).

16. A waterjet cutting method, comprising: cutting a workpiece with a high-velocity' j et expelled from an outlet nozzle of a cutting head, wherein an electric motor is coupled to a pump by a clutch mechanism, such that the electric motor drives the pump to pump an inlet water supply into a pressurized fluid provided to the cutting head; disengaging the electric motor from the pump with the clutch mechanism, under control of one or more controllers, to stop pumping the inlet water supply into the pressurized fluid and stop cutting the workpiece; and re-engaging the electric motor to the pump with the clutch mechanism, under control of the one or more controllers, to resume pumping the inlet water supply into the pressurized fluid and resume cutting the workpiece.

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