363 results about "Sequence control" patented technology

The invention relates to the technical field of industrial automation and machine vision, in particular to a peripheral signal control method for a visual detection system, and the method comprises the steps: creating a virtual signal node for each peripheral in an upper computer, and configuring a time sequence parameter for a device function node; dragging the link nodes through a graphical interface to form an executable signal sequence triggered by a product in-place signal; in response to an initial event, the signal control unit records the position P0 of the reference encoder, and plans and generates an absolute execution position point of a complete sequence control instruction at one time so as to trigger a peripheral action; and the upper computer graphically monitors the node state and records a sequence log, and supports triggering of a standby sequence and pose offset self-adaptive compensation based on image feedback in case of abnormality. The system is suitable for quality detection of industrial products such as glass bottle mouths, solves the high-precision synchronization problem of multi-equipment cooperative control, and improves the reliability, detection precision and deployment flexibility of a visual detection system.

The invention relates to the technical field of selenium-rich white tea production, and discloses an intelligent control system and method for automatic production of selenium-rich white tea. The system comprises a selenium-rich white tea growth environment regulation and control module, a tea growth stage recognition module, a selenium content self-adaptive supply module, a production equipment cooperative control module and a quality closed-loop feedback module. The growth environment regulation and control module collects tea garden multi-region environment parameters and establishes a dynamic monitoring set; the growth stage identification module divides growth stage identifiers in combination with the environment parameters, the bud and leaf morphological image sequence and the growth cycle time sequence data; the selenium content self-adaptive supply module generates a supply scheme and an equipment control instruction set according to the growth stage identifier and the soil selenium content data; the production equipment cooperative control module is linked with related equipment to execute a cooperative operation time sequence control process; and the quality closed-loop feedback module generates a correction amount according to the finished product detection data, and feeds the correction amount back to the growth environment regulation and control module for parameter iterative updating.

The invention discloses an operation ticket intelligent analysis and sequence control logic closed-loop verification method and system, and belongs to the field of power system automation technology and power transformation operation and maintenance, and the method comprises the steps: obtaining a typical interval sequence control operation ticket and an SCD file; identifying the typical interval sequence control operation order through a BERT-ERNIE multi-head text extraction model, and generating a corresponding test script; querying corresponding object path information in the SCD and completing association; constructing a closed-loop acceptance environment; simulating a local operation scene and initiating sequence control operation according to the associated test script to carry out correctness acceptance; on the basis of a similar interval operation ticket generation tool, carrying out one-key replacement on part of description information of the test script passing acceptance, generating similar interval sequential control operation tickets to be accepted, and carrying out correctness acceptance; and simulating a sequence control master station address in the closed-loop acceptance environment, issuing a sequence control instruction to a sequence control host based on the sequence control operation order passing correctness acceptance, and automatically virtualizing the test environment to perform forward and reverse closed-loop automatic acceptance.

According to the infrared fast patrol method based on task sequence control provided by the invention, the robot is guided to pre-adjust the pan-tilt angle and the infrared focal length during advancing through task sequence planning, and the target is intelligently positioned by synchronously utilizing the equipment template library, so that continuous temperature measurement during movement is realized; performing multi-view infrared image comparative analysis on the temperature exceeding equipment through a multi-angle abnormity rechecking strategy; abnormal equipment outside a preset point location is positioned in real time in combination with a laser point cloud map and space coordinate conversion, the parking time of the robot is eliminated, the temperature measurement efficiency is improved, environmental interference is effectively eliminated, the misjudgment rate is reduced, and a high-timeliness and high-reliability global temperature monitoring defense line is constructed for safe operation of industrial equipment.

The invention discloses an electromyographic signal data generation method based on deep learning, and belongs to the field of deep learning. The method comprises the following steps: firstly, building a confrontation model framework comprising a depth angle sequence encoder, a context encoder, an electromyographic signal generator and a discriminator, and placing the confrontation model framework on a hand joint of a user to generate electromyographic signal data; wherein the depth angle sequence encoder is used for encoding a hand joint angle sequence control signal, inputting the hand joint angle sequence control signal into the context encoder to generate potential information of an electromyographic signal, and generating a corresponding electromyographic signal by using the electromyographic signal generator; the electromyographic signal discriminator judges whether each time step accords with a real electromyographic signal mode or not; and then, training an electromyographic signal classification network based on a convolutional neural network by using the electromyographic signal data, and deploying the electromyographic signal classification network to an actual embedded device or a mobile terminal to perform real-time gesture recognition. According to the method, an existing electromyographic signal data set is effectively expanded, meanwhile, the sequence information is used as a control signal, and the data generation quality is effectively improved.

The invention relates to the technical field of collaborative management, in particular to a business collaboration method based on a process engine, which comprises the following steps: acquiring approval process nodes and post fields, establishing node parameter mapping, extracting customer reconciliation process field paths, generating a field coverage set, analyzing contract archiving responsibility actions, and constructing a responsibility sequence link. And matching a financial reimbursement process cooperation path, correcting an offset node to generate a cooperation task flow, calculating an internal instruction process node priority, and generating a task triggering list. According to the method, the node fields and the role identifiers in the approval process are obtained, the field consistency mapping relation is constructed, and a field continuous path screening mechanism is combined, so that the penetrating power and the tracing accuracy of parameters among cross-process nodes are improved, and the sequence of node responsibilities has a verifiable logic chain; through a node offset detection and path connectivity construction mode, accurate task execution sequence control is provided in multi-source task scheduling.

The invention aims to serve the national strategic emerging industry, and discloses a deterministic material synthesis method and a deterministic material synthesis system for pre-nucleation chiral intervention (PNChI for short), which are suitable for one-dimensional or quasi-one-dimensional material systems (such as carbon nanotubes, biomacromolecules and the like) with formalized chiral tags. According to the method, before irreversible closed nucleation of a precursor is completed, deterministic authorization of a target chiral index (n, m) is realized in a controllable time window through at least one engineering intervention mechanism (such as physical field regulation, catalytic interface design, information coding guidance and the like) based on distinguishable physical properties, and consistency is kept in subsequent growth. The system comprises a programmable intervention unit and an intelligent sequence control module, and does not depend on a separation or screening step after nucleation. The single chiral index abundance in the obtained material is greater than or equal to 95%, preferably greater than or equal to 98%. The statistical limitation of traditional chiral control is broken through, a general synthesis normal form from'instruction input 'to'structure output' is constructed, and the method is suitable for high-consistency application scenes such as semiconductors, quantum devices, catalysts and biological recognition.

The invention discloses an image watermark processing method and device, electronic equipment and a storage medium, and relates to the field of financial science and technology. The method comprises the following steps: in response to an image sending request, generating a first chaotic sequence according to a sender identity, a sending timestamp and a chaotic sequence control parameter; segmenting the to-be-sent image into a plurality of image blocks, and determining basic watermark data according to channel values of pixels in the image blocks, a pre-specified private key, a sender identity identifier and a sending timestamp; determining the watermark length of a single image block according to the total length of the basic watermark data and the number of the image blocks, and distributing block-level watermark data for the image blocks from the basic watermark data according to the watermark length; according to the first chaos sequence, determining a first starting coordinate in the image block and a first channel in which a watermark needs to be embedded; and embedding a watermark into the image block according to the first initial coordinate, the first channel and the block-level watermark data. According to the technical scheme, the security and reliability of the image watermark are improved.

The invention provides a carrier rocket engine stage-switching motor redundancy control system, which is combined with a multi-input instruction redundancy voting method, a voting path software and hardware arbitration method and the like to complete high-reliability carrier rocket engine stage-switching motor control. According to the system, two-out-of-three voting is carried out by using a triple-redundancy input control instruction and interactive heartbeat, software and hardware joint arbitration is carried out on voting results of three modules, and an instruction control channel is determined to complete phase sequence control of the stage conversion winding. The method has strong fault capability, has no single-point failure link, and can ensure the normal operation of the engine conversion motor in the flight process of the carrier rocket.

The invention provides a power-on and power-off control method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining module enabling input which is used for indicating power-on or power-off; determining each target power supply to be controlled and a control time sequence of each target power supply from each power supply based on the module enabling input, and generating a trigger signal and an expected output for each target power supply; and determining a first target power supply to be controlled based on the control time sequence among the target power supplies, sending a trigger signal to the first target power supply, and sending a trigger signal to the next target power supply after the output of the first target power supply is consistent with the expected output, thereby overcoming the defect that the power-on and power-off time sequence control of the complex equipment in the traditional scheme depends on an external circuit. The power-on and power-off control circuit has the advantages that the defects of difficulty in accurate control in the prior art are overcome, accurate control of any power-on and power-off time sequence can be realized without a complex circuit, simplicity, high efficiency and accuracy of a control process can be guaranteed, and sleep and sleep functions of equipment can be compatible.

The invention discloses an unbalanced load compensation method for a three-phase four-wire three-level converter. According to the method, a three-phase four-wire system three-level converter bridge arm voltage mathematical model is established based on sine carrier in-phase laminated modulation, and harmonic content analysis is completed; an SOGI-pro module is established (an error integration link is added at the input front end of a D axis of an SOGI filter, and D and Q axis second-order band-pass filters are transformed into third-order band-pass filters), so that the positive and negative sequence separation precision of three-phase unbalanced load voltage is improved. According to the method, the order of the SOGI filter is improved by reasonably designing a closed-loop transfer function, and the filtering effect of the SOGI filter in high and low frequency bands is enhanced. And a sequence-dividing imbalance compensation control loop is designed based on the three-sequence dq0 coordinate system, so that zero-static-error tracking of a positive-sequence fundamental component and powerful suppression of negative-sequence and zero-sequence imbalance components are realized. According to the invention, the accuracy of traditional positive and negative sequence separation is improved, so that the unbalanced load compensation effect under sequence separation control can be improved.

The invention provides a control system of magnetic resonance imaging equipment and an imaging method, and relates to the technical field of magnetic resonance imaging equipment control. The control system of the magnetic resonance imaging equipment comprises hardware composition equipment and a software control module, the hardware composition equipment comprises a scanning component and a magnetic resonance host, and the software control module comprises a scanning parameter setting unit, a sequence control unit, an image reconstruction unit and a system monitoring and feedback unit. According to the invention, the image reconstruction module in the control system adopts advanced mathematical algorithms, the algorithms can quickly and accurately convert the acquired radio frequency signals into high-quality images, and in the scanning process, the control system can process the images in real time, so that the contrast ratio of the images is more appropriate, and the image quality is improved. Therefore, an operator can conveniently observe the image quality in time in the scanning process and judge whether scanning parameters need to be adjusted or not, high-quality imaging is achieved, and then the reliability and safety of MRI imaging are improved.

An ejection seat includes an ejection seat sequencing system. The sequencing system enables time delays to various components of the system, such the drogue parachute, the main parachute, and harness release cartridge. A sequence controller receives data for a parameter, such as airspeed, from at least two sensors. The sequence controller selects a sequence timing delay mode to implement the time delays for the components of the sequencing system. The sequence controller also accesses a lookup table in a database accessible by the sequence controller. The sequence controller uses a delay parameter of the lookup table to modify a time delay within the sequence timing delay mode, as configured by a user.

The present invention discloses a martial arts learning process intelligent analysis system based on multimodal deep learning, which relates to the fields of computer vision and deep learning technology, and includes: a processor: responsible for program execution sequence control, data arithmetic, logical operations and time control to ensure the orderly operation of the system; an action strength analysis module. The martial arts learning process intelligent analysis system based on multimodal deep learning innovatively combines computer vision and deep learning technology to construct a multimodal system, extracts joint point data from martial arts action videos, constructs a personalized action comparison model, analyzes the learner's action strength, and then uses the displacement data analysis of human joint points between adjacent key frames to perform action speed analysis. At the same time, using emotion recognition technology, the learner's facial expressions and micro-expressions are evaluated, so as to accurately judge their emotional state and conduct comprehensive concentration analysis in combination with strength and speed.

The invention belongs to the field of robot path planning, and particularly relates to a method and system for dynamically covering a cleaning path of a cleaning robot, and the method comprises the following steps: sending a cleaning region task instruction to a task processing module; the task processing module controls the cleaning robot to sequentially execute cleaning tasks according to the task execution sequence; the motion control module sends corresponding cleaning path planning commands to the path planning module according to different cleaning task types; the sensing module processes the laser data and the camera data and then sends the laser data and the camera data to the path planning module; the path planning module updates the environmental information of the cleaning area, plans a cleaning path in real time based on the updated environmental information of the cleaning area, and sends the planned path to the motion control module; and the motion control module controls hardware of the cleaning robot to dynamically and intelligently execute cleaning operation. A dynamic path planning technology is used, so that the cleaning robot can dynamically plan the cleaning path in real time in a dynamic cleaning area, and the cleaning operation is efficiently completed.

The invention provides a power plant sludge pump process control optimization method, and belongs to the technical field of power plant automation control. The sludge pump can at least partially solve the problems that the displacement cannot be accurately matched, the pipeline is easy to block, and the pump body is burnt out due to the fact that the control of the existing sludge pump depends on easily blocked pressure measuring points and unreliable manual flushing. The method comprises the following steps: acquiring a real-time liquid level of a clarification tank, and automatically starting sequence control when the liquid level reaches a high threshold value; in sequence control, effective flushing is ensured by monitoring the flow of flushing water; during the sludge pumping and discharging period, continuously monitoring the outlet flow of the sludge pump; and when the outlet flow is lower than an operation failure threshold value or the liquid level of the clarification tank is lower than a low threshold value, the pump stopping step is automatically executed. The automatic control system has the beneficial effects that closed-loop automatic control is realized by introducing the liquid level meter and the outlet flow meter, and a pressure measuring point which is easy to block is replaced by outlet flow monitoring, so that the problem that the pump body is burnt due to idling is fundamentally avoided.

The invention provides a one-key start and stop control method and system for a tower type photo-thermal power station, and belongs to the technical field of tower type photo-thermal power stations. Molten salt pipeline electric heat tracing preheating sequence control, steam generator water feeding temperature control sequence control, mirror field starting sequence control, cold salt pump starting sequence control, heat absorption tower molten salt bypass salt filling sequence control, heat absorber main path salt filling sequence control, vacuum system sequence control, steam generator cold salt filling sequence control, steam generator hot salt feeding sequence control and shaft seal system input sequence control are started in sequence. A steam bypass system is put into sequence control, and a turbine starts sequence control; and during stopping, sequentially starting steam turbine stop sequence control, mirror field stop sequence control, heat absorber salt dredging sequence control, cold salt pump stop sequence control, vacuum system stop sequence control, steam generator salt dredging sequence control, shaft seal system stop sequence control and auxiliary machine system stop sequence control. The operation process of the power station is simplified, the possibility of manual operation errors is reduced, and the operation accuracy is improved.

The invention provides a zero-intrusion computing power accelerator card information customizing system and method, and belongs to the technical field of container cloud platforms. The method comprises the following steps: deploying an information self-defining component on each node of a container cloud platform in a containerization manner, and actively monitoring a creation or starting event of a service container by the information self-defining component; and injecting a self-defined interception dynamic library, a dynamic library sequence control file and a self-defined hardware information database into the service container by using an NRI mechanism. According to the technical scheme, an NRI mechanism is organically combined with a dynamic link library loading mechanism, a self-defined hardware information database and other technologies, so that the information acquisition technology paths of the computing power acceleration cards with different sources and different levels can obtain preset hidden information as return results; according to the scheme, access of hiding or self-defining capability of the computing power accelerator card of the container cloud platform can be realized under the condition that a user service code and a service container mirror image are not modified, and the method has a wide application scene.

The invention discloses a neural tissue stimulator, characterized in that the neural tissue stimulator comprises a multiple of microneedles and a chip comprising at least one comparator with adaptive level, sequence control circuit, at least one capacitor stack built by n capacitors and 2n switches, at least one buffer capacitor outside the at least one capacitor stack, at least two additional switches outside the at least one capacitor stack, a CMOS-Logic, wherein further, the neural tissue stimulator comprises an interposer layer comprising holes for the multiple of microneedles and a lid. The neural tissue stimulator is characterized in, that the chip is located on one surface of the interposer layer and that the lid and the interposer layer form a capsule for the chip. Further, the neural tissue stimulator is adapted to be electrically self-sufficient.

The invention discloses an unbalance compensation method and system for an energy storage converter, and belongs to the field of power electronics and electric energy quality treatment. The system comprises a power instruction analysis module, a current reference generation module, a negative sequence current control loop module, a zero sequence control loop module, a positive sequence control loop module, a pulse width modulation module, a first conversion module and a second conversion module, the current reference generation module is respectively connected with the negative sequence current control loop module and the positive sequence control loop module; the third end and the fourth end of the negative sequence current control loop module are connected with the pulse width modulation module through the second conversion module; the third end and the fourth end of the zero sequence control loop module and the third end and the fourth end of the positive sequence control loop module are connected with the pulse width modulation module through the first conversion module. According to the method, the energy storage and compensation functions of the PCS can be seamlessly integrated under a unified control framework, so that the control system is greatly simplified, and the performance is remarkably improved.

The invention relates to the technical field of low-voltage power distribution control, and discloses a low-voltage bypass sequence control method and device based on phase sequence recognition and a fracture state. The method comprises the following steps: acquiring voltage waveform data of a low-voltage three-phase circuit through an integrated protection relay, sampling, and outputting a phase sequence identification result; generating an opening and closing control instruction based on the identification result, transmitting the opening and closing control instruction to a spring operation mechanism to execute opening and closing actions, and outputting a fracture state signal; the fracture state signal is subjected to long-distance imaging display through the large window insulation structure to obtain an imaging confirmation result of the fracture state; and generating state indication information based on an imaging confirmation result, performing comprehensive judgment by using the information in control logic, and executing low-voltage bypass switching-on operation when a judgment condition is met. According to the invention, organic combination of phase sequence identification, opening and closing control and fracture state visualization is realized, the safety and reliability of the low-voltage distribution network in the bypass operation process can be improved, and the risk of misoperation is avoided.

The invention provides a sequence decision strategy acquisition method and system for high-neuroplasm crowds. The method comprises the following steps: establishing a full-screen drawing canvas, and loading a task set comprising a decision map type, an emotion titer ratio, a reward parameter, a random seed and a sequence control parameter; collecting user gender selection and binding a corresponding emotion picture library; generating a decision map based on a Markov decision principle under the control of the parameter set, defining nodes and connecting edges, randomly scheduling and laying emotion pictures according to a titer ratio, and assigning rewards to form an emotion and reward coupling environment; based on the environment, recording a mouse position and a mouse path in an execution exploration stage, recording key pressing time, an action direction and an award in an execution stage, and establishing step sequence association according to a timestamp to form sequence decision data; a Latin square balance control task sequence is adopted, and the process is propelled under the trigger of a user; and finally, filing the data in a binary system and a text file for subsequent analysis. According to the invention, the authenticity and repeatability of data are improved.

The invention discloses a switch cabinet with an AI visual monitoring system, which is applied to the technical field of intelligent power grids, and comprises a visual operation module which comprises a one-key sequence control execution unit and a visual auxiliary double-confirmation subunit and is used for realizing automation and visualization of the operation process of the switch cabinet; the multi-parameter state sensing module comprises an electrical parameter real-time monitoring unit and a mechanical characteristic dynamic monitoring unit and is used for monitoring electrical parameters and mechanical characteristics of the switch cabinet in real time; the equipment health management module comprises a thermal state evaluation unit and an electrical life prediction unit and is used for evaluating and predicting the thermal state and the electrical life of the equipment; and the intelligent hardware and communication module comprises an edge computing device and a man-machine interaction terminal and is used for realizing data processing, man-machine interaction and remote communication of the switch cabinet. According to the invention, the operation efficiency of the power system is effectively improved, the operation and maintenance cost is reduced, potential faults can be effectively prevented, and the safety and reliability of power supply are improved.

The invention discloses a high-concurrency and sequential data processing method for batch import class interfaces. In a request verification and forwarding stage, request data are verified, a guarantee sequence is locked based on a merchant ID after verification is passed, then the data are batched, request and batch information is persisted to a database, batch information is delivered to a corresponding message queue Topic according to a service scene, and the request ID is returned. In the consumption queue data stage, a consumer thread subscribes to messages of the message queue, processes the messages, updates a batch state, manually submits consumption offset, and dynamically adjusts the sleep duration of the thread according to a system load to realize intelligent peak clipping. And a progress result query stage: extracting data from the database based on the request ID, calculating a processing progress and a failure reason, formatting and returning the processing progress and the failure reason, and supporting front-end visual display. Through the message queue peak clipping, the differentiation sequence control strategy and the multi-dimensional data persistence, the high concurrency bearing capacity of the interface is improved, and the data consistency and reliability are guaranteed.

A semiconductor memory device and an operating method thereof are provided. The semiconductor memory device includes: first storage logic configured to store "K" addresses having different values among input addresses applied during an enable period of a reference signal as first addresses; second storage logic configured to store "L" addresses among the input addresses corresponding to a time point at which the enable period of the reference signal ends as second addresses; a sequence controller configured to determine a first output order of each of the first addresses based on the number of times each of the first addresses is repeatedly input, and to determine a second output order for outputting mixed addresses obtained by mixing together the first addresses based on the first output order and the second addresses; and refresh operation logic configured to apply the mixed addresses according to the second output order to a target refresh operation.

The invention relates to the technical field of optical module communication, discloses a self-adaptive power-on control method for a thermoelectric refrigerating unit in an optical module, and solves the problems of low starting speed, incapability of real-time adjustment and single control dimension during power-on control of the thermoelectric refrigerating unit. According to the method, optimal parameters are provided for different working conditions through the two-dimensional lookup table, and continuous adaptation is realized by using interpolation, so that positive parameters can be called under the most common working conditions of normal temperature and constant temperature difference to realize fastest start; through the combination of real-time working condition sensing and dynamic parameter adjustment, the current environment temperature and the target temperature difference are sensed in real time to serve as control input, and stepping parameters are dynamically and finely adjusted according to the temperature change rate during execution, so that the control behavior can be matched with the actual thermodynamic load in real time; different thermal challenge combinations can be finely distinguished and responded through an environment temperature and instantaneous temperature difference combined decision model, and the defect that single temperature difference control or fixed time sequence control cannot deal with complex working conditions is overcome.

The invention provides a dynamic library hijacking method, electronic equipment and a computer program product, which realize real-time replacement and function extension of a dynamic library through dynamic library renaming, memory residence and loading sequence control without modifying an APK or restarting an application. According to the embodiment, no file remains in the hijacking process, only code segments ( / proc / sef / map is displayed as liba.so) are reserved in a memory, and detection based on file hash or path is avoided. And moreover, the JNIOnLoad of the original library and all the JNI methods are normally executed, so that the collapse problems of UnsfidLink Error and the like are avoided.

The invention discloses an electric vehicle V2G intelligent power distribution method based on sequence control, and the method comprises the steps: collecting power grid operation data and vehicle state data, and constructing an energy state data set after preprocessing; the central scheduling layer generates a self-evolution sequence compiler, and optimizes and generates a sequence control byte code; the group coordination layer constructs an energy state coordination game mechanism and executes local coordination and Nash equilibrium search; the edge execution layer loads the three types of strategies and executes consensus consistency verification and correction; the charging pile terminal executes the S-policy script and collects and uploads execution feedback information; and the central scheduling layer retrains a compiler according to feedback, recompiles scripts and updates a control strategy. According to the method, the self-evolution sequence compiler, the energy state collaborative game mechanism and the multi-strategy consensus executor are introduced, so that dynamic scheduling, adaptive optimization and safe consistent execution of the V2G intelligent power distribution process of the electric vehicle are realized.

The invention provides an intelligent operation method and system for programmed control of a transformer substation, and relates to the technical field of power grids. After the programmed control instruction is detected, the operation order corresponding to the target equipment and the target operation type is matched, the robot is operated to replace manual operation, all the operation steps are executed in sequence, double safety verification is carried out according to the sequential control operation result of each operation step, and the state sensing accuracy and the system reliability are remarkably improved. Through the cooperative effect of robot execution, multi-sensor fusion and double safety verification, the problems that the operation and maintenance efficiency of the transformer substation is low, the safety risk is high, and misoperation is prone to occurring are solved, and the operation and maintenance efficiency and safety of the transformer substation are improved.

In the present invention: a motion control system that includes a servo control device is achieved with a simple configuration; the need for compatibility with a communication protocol for safe communication is eliminated; and impact of communication delay, noise, and the like can be prevented.　This servo control device controls a servo which is part of a machine and which has one or more shafts, according to a control command from a higher-level control device, the servo control device comprising: a communication control unit that receives a control command; a servo control unit that controls the servo on the basis of the control command; and a safety sequence control unit that determines the safety state of the machine, and if determining that the machine is not safe, inputs a command to decelerate or stop the servo, or to interrupt power, into the servo control unit. On the basis of the command from the safety sequence control unit, the servo control unit decelerates or stops the servo, or interrupts the power.