DE2511003A1 - SYSTEM FOR AUTOMATIC DETERMINATION OF THE MATERIAL ADDITIONAL VALUES DEPENDING ON TECHNOLOGICAL PARAMETERS - Google Patents

Description

D 5 - 96

CSEPELI FEMMÜ
1751 Csepel 1. Postafiok 49, Hungary

SYSTEM FOR AUTOMATIC DETERMINATION OF TECHNOLOGICAL PARAIiETERIi DEPENDENT MATERIAL ADJUSTMENTS

The invention relates to a system for automatic research, investigation, testing -bzw. Op \ optimization der.von technological parameters dependent Materialbeiwerte of materials, optionally for the preparation of the treated with the optimal technology material.

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In dom erfindungsgamassen system that was in the Hungarian patent Ur. OE-781 under dam Eitel: "Ancestors. To optimize Ein odor Melii ¹ -ocliritt-Tcchnologion" described method in an automated and further developed form. The test specimen taken has brought about a monotonous distribution with a gradient depending on the location in relation to one or more technological parameters and the inhomogeneities provided in the test specimen are caused and increasingly variable material coefficients are tested, if necessary the method in the with regard to the test repeated optimal range on more test specimens with smaller gradients.

The aforementioned inhomogeneous optimization process was not suitable for automatic research and testing of material coefficients alone. The procedure passed in practice from several cycles, and the results of the individual cycles had to be made before the start of the will be evaluated in the next cycle by experts in the field related to the optimization knew thoroughly. The time required for the intermediate evaluation unnecessarily lengthened the duration of the Optimization work. The aforementioned method based on the creation of gradients meant zv / ar in comparison A significant step in the direction of the individual examinations that were previously widely used, but it was also in the solution of relatively simple optimization tasks, a significant burden for the das_ method applying professionals.

In addition to optimization, the method can also be used for testing and researching materials will, however, in this case.

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I am running the optimization problems that have arisen in increased Masne comes into its own. In this description .is under research the methodical determination of the .material- factors and the technological parameters as yet unknown relationships as well as the system of to understand functional relationships. These connections v / earth determined by the internal eigenfunctions of the materials, which were previously insoluble in Explicit-form unexpressible differential equations are formed. The aforementioned activity related to research required time and energy on the part of the specialists to a greater extent, since the requirement-Q system which is determined in advance and which offers clues in the course of the optimization in this case was incomplete.

Under the system of requirements, the defined stock of values are to be examined in the course of the procedure Material coefficients, as well as those associated with this and with the technological parameters. to understand predetermined information.

With the development of technology, the introduction * ·. As new technologies and the emergence of new materials emerge, research is becoming increasingly important becoming meaning. ■

As is known, can be based on research In the case of given materials, an optimization based on several aspects at the same time be made so that in this sense the for-. schung as a more valuable one, in terms of its level higher activity than optimization can be viewed. The researchers agree that that the research work defined in the aforementioned sense is not automated to its full extent and that the managerial and analytical work of researchers and specialists in the course of

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fe of the individual phases of the research work also in the Case of the complete automation of individual physical processes is required.

The aim of the invention is to eliminate professional prejudices and to create a system with the help of which the research, testing and optimization of the material additions depending on the technological parameters can be carried out automatically without the assistance of specialists.

More can be achieved with the help of the system The aim is to present the test results in numerical and / or in graphic form for display, possibly treated with appropriate technology Manufacture test specimens.

The invention is based on the knowledge that the aforementioned inhomogeneous optimization process can be automated and further developed for the automatic implementation of research if the computer programmed in accordance with the process is combined in an ' organic system with one or more automatic treatment and testing devices whose every unit interacts with the computer on both sides.

The specimens taken from the materials to be tested, the eigenfunctions to be investigated embodied in the individual institutions, are in mutual active interaction with them.

The aforementioned object is achieved with the invention in such a way that the system has a computer and at least one with this in a connection forwarding the information in two directions the facility located contains the test specimens taken from the individual facilities, in the test specimen or in the interaction with it standing rehearsal room is an oriented, monotonous distribution of the technological parameters

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regulated and / oclor controlled actuator, daa the distribution meosendc organ, furthermore at least one of the Ilaterialbeiv / erte des in the one coinciding with the rehearsal room or outside it test specimens arranged in the same test room depending on the position and in the coordinate system of the test specimen receiving controlled and / or controlled measuring apparatus is provided; the command system of the. Invoices in line with that on optimizing the one-way or three-way technology-related procedures is built up, and the characteristic data of the test specimens, which with the research, testing or /. optimization related data, furthermore; the transfer functions of the actuator, the Mecsorgana and the measuring apparatus in the Computers are programmed

In an advantageous variant of the system, the individual devices are connected to the input own and / or shared memory receiving the test specimens, to the output of the same the treated one Test specimen receiving own and / or common collective storage connected. With this solution, the. systematized and addressable storage of the specimens can be achieved.

In an advantageous embodiment of the the system will be automatic and by the calculator controlled forwarding of the test specimen in such a way solved by between the individual storage and / or collective storage as well as the programmed computer in both directions information forwarding connection is provided and in the system with the computer also in bilateral communication and controlled by the computer test specimen transport means to be ordered. These means of transport can be used to automatically forward the Test specimen between any two units of the individual storage facilities, sample rooms, test rooms or sapnel storage facilities

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goo dial te ι has been used, and the Computer audi for the automatic forwarding of the test specimens / Test specimen transport / programmed. In the fully automated system, all of the test specimens are used receiving baw. treatment units are connected to the test body transport means controlled by the computer.

To support the evaluation and analysis of the research, examination and optimization part or -Final results is connected to the computer at least one display unit showing the aforementioned results.

In an expedient embodiment of the Systems are the actuating elements belonging to the individual test specimens for given technological parameters and measuring organs connected to each other in a direct control loop and the control of this direct The control loop is carried out by the computer. Through this Solution, the load on the computer is reduced and its program is simplified.

In other cases where the actuators and measuring elements are switched on in the direct control loop is not expedient due to the complex nature of the regulation, one is implemented by the computer indirect control of the actuating and measuring elements more advantageous.

The individual actuators and / or measuring devices are in the system via digital-to-analog converters if necessary connected to the computer via analog servo systems. The direct connection on both sides with the computer and the other units of the system can be time-divided via time-sharing lines System / can also be implemented in on-line operation.

From the above it can be seen that the Reclmer

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with the other units of the system realized two contributions organic compound offers the possibility that the computer on the one hand at the right time via the Entities received transactions information, on the other hand in serving transactions in accordance with the procedure in a timely manner intervenes.

In the course of the process, the computer is able to otammonden from or with the test specimens in context and urgent 'essential information save and process, and consequently the partial and final results are displayed by the recliner in numerical and / or graphical form and the optimal results Test specimen inevitably produced "

The iiii memories are located and the same Test specimens showing the state offer the possibility of repeating the procedure with any gradient, and the recliner can repeat the process until he has precise information about the material properties, the relationships between the material properties and the technological parameters or in the case of are available for optimization with regard to the requirements associated with the optimum, i.e. the system carries out a research activity.

On those used in the system according to the invention There are no special requirements for incoming recliners, as the relatively slow technological Ensure processes ample time for the tasks to be performed.

The computer used in the system can also be used in the most diverse areas of application regardless of the character of the facilities implemented in Technologies and types of specimens. This independence results from the extensive Validity of the general principle, since the gradual decrease the gradient, the evaluation methods and the

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ti e-

Method of analysis & sv- Susaiiiöen & ttnge & u? Qh to inhomogeneous process, and nio.nt d_ui »q & ta des Syetcms bes.tinunt we.rd.en» One of the most important advantages of the Syatewoi after daa also results from the thie.eer Tftiabniingiglceit System with m ^ be davit ends ProGrararaUndeiottisen in aalilveichon areas where research can be etched with the sbiGiion NUtaliohlceit «

The adaptation of the system according to the invention Also does not require any special material expenses, since the units that make up the system are from the material tests already used devices with minor changes and those occurring in the system Computing and control engineering tasks with universal Medium performance computers can already be solved. The system can be implemented quickly and is as a result of the Use of universal software also suitable for series production.

The connection of the relatively slow technological advancements with the Rephner is also over Data transmission chains can be solved and so several research tasks can be solved at the same time with a single computer will. In this way, the PorschungST ζ ntrals can be formed from the system, in which the material tests with good Efficiency and with optimal "· utilization of the computer be performed.

The invention is explained in more detail below with the aid of examples and drawings on which some example white variants of the inventive system are shown.

From the drawings shows

1 shows the block diagram of the system according to the invention with details of a single specimen treatment device,
FIG. 2 shows the block diagram of the system according to FIG. 1

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Specification of several test body treatment facilities connected to a single computer,

Fig. 3 is a diagram of an automatic test specimen -Transport complemented system.

In Pig. 1 shows the blookscheraa of the system according to the invention, in which the computer 10 is connected to a single specimen treatment device 30. The test body treatment device 30 shown with an interrupted line consists of the sample room 34 and the test room 40. For the sake of simplicity, the general Pail has been shown in which the. Sample room 34 and the test room 40 are arranged separately from one another. This does not necessarily apply, and the test room 40 and the associated measuring device 42 can also be arranged in the test aura 34, e.g. after the technological treatment of the test specimen 31 taken from the material to be tested, which are the test specimens 31 representing the material to be tested arranged in memory 34 according to a given system. The specimens 31 are homogeneous with regard to the test or the technological parameters forming the subject of research, expediently prism-shaped or their shape is identical to one another and is designed according to a given geometric rule. This limita "lcung is still required to perform repeated tests, because of the assignment dei ¹ Materialbeiwerte to exact coordinates. .

Between the memory 44 and the computer '10 exists, an information link acting in two directions, i.e. that the memory 44 provides information to the computer IO the computer IO forwards with regard to the number, arrangement and type of the stored test specimens 31 on the other hand, the memory 44 can issue commands to eject the selected type of specimen 31.

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The au treated sample body 31 arrives from the memory 44 for automatic or semi-automatic Tranoport to rehearsal room 34 · Dor rehearsal room 34 bildot oine α eparat ο collects, in dor the subject of the Examination forming hüohaton three technological parameters in accordance with the Uothode of Inliomogonitüton on the Probe body 31 and its surroundings can act. The prescribed inhomogeneous treatment of the test body 31 is achieved by the treatment in the sample space 44 Actuator 36 performed. For control and regulation the extent of the engagement is with the specimen 31 or its immediate surroundings, at least one reading organ 38 in connection. The actuator 36 can at most along three directions on the specimen 31 the distribution of at most three independent or im Course of the gradient reductions independently of one another feasible technological parameters in the given gradient range change. The actuator 36 can also be made in accordance with the task actually to be performed consist of several subunits. Between the actuator 36 and the computer IO there is one that acts in both directions direct connection. The actuator 36 continuously informs the computer 10 of the gradient that has been brought about as well as the data related to the treatment and at the same time receives information on the extent of the treatment and the intervention related control from the computer 10. With regard to the actual training .des actuator 36 with the exception of the unification change, no stipulation is made that the organ has a ^ x such analog or digital Must have input or output that offers the possibility of using the information received or forwarded by him carry out the inhomogeneous treatment of the specimen 31 in the course of the interactive communication with the computer. The program and / or the memory of the computer 10

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must of course be between the input signal of the actuator 36 and depending on the location coordinate of the Eobekürpera 31 performed treatment transfer functional context included «The actuator 36 can don heat treatment condition, the electric or magnetic peId, the alloy ratio, the galvanic or other coating, the shaping, processing etc. of the specimen 31 change.

It can be seen that the great degree of freedom with regard to the design of the actuator 36 enables a continuous injection of the system. The actuator 36 acts on the specimen 31 arranged in the specimen space 34 at the same time at most three technological parameters corresponding to the coordinates of the specimen 31 to a different extent, the computer 10 from the actual parameters belonging to any point P of the specimen 31 and their here designed gradient information or is able to determine the technological parameters and gradients at any point by interpolation from the corresponding information. x, y, z / and the position vector P * / x, y, z / existing relationship, holds this in its memory and, if necessary, brings the relationships on the display unit 52 or in printed form for display or communication. · ■■ - ■■■ "

The treated specimen 31 then passes from the specimen space 34 into the test space 4P * In the test space 40 there is a fixed connection between the specimen 31 and the probes / measuring sensors / '· ■ of the measuring device 42. The measuring device 42 is in a direct connection with the computer 10, which acts in both directions, ie it transmits the position values of the individual probes related to the coordinates of the sample body 31 and the instantaneous values of the measured parameters / and all this in analog or digital form / continuously to the computer much more. The calculator 10 acts on the other hand

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in dor V / oiao on ddc MeoBßorüt 42 by showing the Abtaatbahnen of the probes, their suitable dimensions, sensitivity and lIoDogronzon determined. Bas Meaageriit 42 rnusa to one morning dor catorial epithets depending on the place of the treated test body 31 be suitable. A Such a material coefficient can be, for example, the hardness, the electriacho odor magnetic state, the quenching depth, composition, Elongation, etc. of the specimen 31. With regard to the specific design of the measuring device 42, similar to in the case of the actuator 36, beyond the above, none Restriction can be made. The selection of the actuator 36 and the measuring device 42 that takes place in mutual harmony determines the actual application possibilities of the system. The high degree of freedom indicates the wide range of uses of the system, which goes far beyond the areas of material testing in the narrower sense, also in the automatic implementation of microbiological, biochemical, Plant cultivation and animal breeding experiments can be exploited. . .

After measuring the material coefficients of the specimen 31, the computer 30 can already 'the material coefficient vector J / x, y, z / belonging to the arbitrary point? / Χ, y, z / of the specimen 31 and stores this puncture in its memory. Since the computer 10 now knows the gradient vector G / x, y, z / in all points P / x, y, z / is. Knowing the material coefficient vector fr / x, y, z / is also able to determine the functional relationship δ β P / § /. The relationship G β P / q? / Is the subject of the Porachung, since the vector G is the gradient vector of the technological parameters, while the vector ξ is the vector of the corresponding material coefficient

The exact automatic solution of the relationship Π β F / dT * / can only be achieved in practice with the aid of the invention realized with a computer equipped system

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will.

This task can naturally occur in the course of a single adjusting cycle with the testing of a single specimen 31 can generally not be solved. The mentioned inliomo ' The general optimization procedure forms the basis of the program system of the computer 10, and therefore the computer 10 leaves the Areas found to be valuable in the course of the first cycle by creating reduced gradients in test room 34, below Repeatedly test the use of further test specimens 31 and record them in the test room 40. From the exam room. 40 get the Test specimens 31 in the collecting memory 46 and are stored here in sorted compartments. In the case of optimization tasks As a result of the last cycles, exactly those treated with the optimal technology appear in the collective memory 46 Sample body 31.

To determine the limits and characteristic values of the The computer 10 can add new cycles in addition to those from the previous ones Cycles also contain touching information that is related to the materials and stored in its memory Use data, possibly with the aid of the display unit 52, request the input of further data or from a third party Obtain database information * Since the individual cycles the Knowledge of the computer 10 can expand * this material, be read from the computer 10 if necessary.

When the research is completed, the computer can 10 the final result with arbitrary precision; bring to the display. ''. :

In Fig. 2 a variant of the system was shown, in which several treatment devices 30 are connected to a single computer IQ at the same time. The possibility for this embodiment is given that the processes taking place in the treatment devices 30 Extraordinary compared to the operating speed of the computer go slowly ''.

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Qtem created that a simultaneous exam from several gloiahG or from each other under Bohlodliohe ■ Determination having and subject matter of various foraohungcn Llaterialien or optimizations are taken • Trial bodies 31 enabled »

BJshor was made no limitation in the sense daso the operations associated with the Next line / further transport / the specimen 31 to be automatically performed "The work of the system, this is also n, ¹ is not necessary, although it is advantageous when the research is carried out to the full without human intervention. For this reason, test specimen transport means 48 can be inserted between the individual units of the system, which, under the action of the control received from the computer 10, automatically forward the test specimens 31.

To promote interactive communication between the computer 10 and the treatment device®. 30 can between the computer 10, which is suitable for interpreting and outputting the digital signals, and the actuators 36, which are oriented towards the operations associated with the technologies, Digital-to-analog converters corresponding to measuring elements 38 and measuring devices 42 54 and servo systems 56 inserted v / earth. The actual execution of the same is.t for the given Already known to experts in the field.

Between the computer 10 and the treatment devices 30, a direct bilateral multi-channel Connection to be secured. This connection can also be realized via a data transmission chain, and so can the system also with remote treatment facilities 30 can be built. In Fig. 2 the possibility is with a treatment device 30 connected via time sampling lines 62 is shown.

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In Pig. 3 shows the scheme of an automatic system in which all operations related to the test bodies are carried out without human intervention. The control element 36 and the measuring element 30 are switched on in this version in a direct Hesel circle. The output signals of the measuring element 38 form foal signals for the control element 36 in relation to the intended technological parameters, and the control element 36 changes the character of the direction under its influence according to the minnimalen error · is to be emphasized that the Soilcignal of the control loop, that is, the control in this case is performed by the computer 10 degrees. of course, the actuator 36 and the measuring element can einge- 38 via the computer ¹ 10 is also in an indirect control loop 'switches, will.' The more favorable of the two design variants is determined exclusively by the nature of the means required to implement the given technology.

In the system according to the invention, depending on Implemented numerous organizational and rationalization measures based on the given tasks and the structure and the system is also various additional services suitable. The memories 44 and the collective memories 46 can, for example, be combined for several treatment devices 30; 10 display units 52 which display the most varied of relationships can be connected at the same time. However, the aforementioned changes do not affect the essential features of the system in any way.

The measuring device 42 advantageously includes several probes or measuring sensors, the sensitivity of which is similar to the central imaging area change according to the given steps.

In accordance with the inhomogeneous method, in the course of the research cycles the value of the in the test specimen

31 gradients formed very differently. Su den variable gradients generally belong to changes in material ■ coefficient different steepness, which also affect the measuring range of the Ilcaogcräto 42. The right Setting can be achieved in the Y / cioe, daas the average fluctuations of the ICsOondcn moving depending on the location are evaluated by the computer 10 , the latter being the size or the Uesa area and selects the sensitivity of the probe accordingly. This operation is similar to that used in microscope examinations Adjustment of the magnification analog.

If the above statements are summarized, it is established that the system has the uatorial coefficients depending on the technological parameters the specimens taken from your material and the technological Parameters existing functional relationships, i.e. the vector-vector function G / x, y, z / a P \ f / x »y» ζ / J averages and displays, i.e. an automatic research activity exercises.

The above example resulted in various possibilities the implementation of the system before · below we have an example of how the system can be used in practice.

The task is the general determination of the relationship between the material properties of the most varied / e.g. belonging to the activity profile of a research institute / Materials and those for technological treatments characteristic parameters, i.e. applied basic research with the aim of finding any later —V-consumer needs to be able to determine whether a combination of the materials previously examined by the system and the technologies exist - and if so, which of these exactly this is - the ones that emerged

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Needs met.

This task is done by the system in the way solved, dasD first all available Test body 31 dan various possible technological Steps treated accordingly with the help of the actuators 36, and then by 4ίβ * MessS ^ ■ goprttf 1? will*

Then the characteristic points of the scalar-Yektör- functions £ / x, y, z / of the material coefficients / z, B. Maximum, minimum, inflesion, or the maximum and minimum values uew / ¹ recorded in the given test area, and then the associated technological parameter values are also determined. · · .. ·. · '. ■ "

In the given Pail, dao determines the system in the following Steps through systematic downgrading of the technological Parameter gradients also the relationship between the characteristic points and the technological parameters more accurate. The following are the characteristics of the characteristic points and the technological Parameter values stored in the memory of the computer 10

After the arrival of a certain consumer, the computer needs to form its memory. stored aforementioned data ^ where e ^ neLöoung in a trivial way not excluded _: 4ej; Viai ^ good currency the vector vector punctures ^ 6 / X,: '^, g /. » Tf & fet and then delimit probable solutions within the same odier. In the further, at Sen v ^ _ memory 44 retrieved test specimens 31 in the vcisteufnd ;. Gradient VeymiziÄer us carried out in limited areas and as long as a given requirement entaprecliendea; iimaterial or an applicable technology is available, _this precisely controlled by the system and then the optimally treated material is also produced «[· ■ '__ ■) '. ; This example also clearly shows that

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dio active way of working doa Systems balm lSinaatz for Grundforachungon in comparison to known Syatomon for similar tasks a significant saving in storage capacity results or a 'gap-free systematic' Processing of an important piece of knowledge made possible in a very short time, the geopedic Material easily accessible for specific applications iot ..

The system must therefore meet the requirements at the beginning of the Description based on objectives and, due to the high degree of freedom contained therein, is also based on the usable in the broadest areas of research.

In addition to the advantages detailed in the description, it should be emphasized with large cm that the automatic research system working with electronic computers in the course of his activity is also able to expand his knowledge, i.e. to learn.

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Claims (1)

ΓΛΤΕΙΙΤΛΠΠΡΓνϋΟΗΕ System for automatic research, testing and optimization of those dependent on technological parameters Ilatcrialbciwerte von V / crkatoffen, possibly cur Manufacture dec with the optimal technology treated material, characterized in that it a computer / 10 / and at least one with this in a connection that forwards the information in two directions facility located / 30 / contains; in one of its facilities / 30 / from the test materials / Test specimen / 31 /, in / the / test specimen / / / 31 / or in the sample room interacting with diecem / n / / 34 / a regulated and / or controlled one that brings about the oriented, monotonous distribution of the technological parameters Control element / 36 /, the organ measuring the advantage / 30/1 continues at least one of the material coefficients of the one that coincides with the rehearsal room / 34 / or outside it lying test room / 40 / arranged test specimen / 31 / in Depending on the location and in the coordinate system of the test specimen, the receiving regulated and / or totalized Leuerter Measuring apparatus / 42 / is provided; the command system of the Calculator / 10 / in accordance with the focus on optimizing the One-step or multi-step technologies and the characteristic data of the test specimens / 31 / associated with the research, testing · or optimization Data, continue to be the 'transmission-fast' ions of the final control element / 36 / of the measuring organ / 38 /, so / ie of the measuring apparatus / 42 / in the computer / 10 / are programmed. 2. Ausfülirungsform of the system according to claim 1, thereby marked ennz e i without t, that at the entrance of the individual facilities / 30 / which are in the same way with each other State of the test specimen / 31 / receiving its own and / or shared memory / 44 / to the output of the same, the the treated specimens / 31 / receiving their own and / or shared storage tanks are connected «. 50984Ö / 1Ö71 L Ό 1 IUU .3. Embodiment of the system according to claim 1 mid 2, characterized in that a between the / den / Sp ei rather / n / / 44 / and / or your / den / Saiimie! speicher / n / / 46 / and the programmed computer / 10 / in both directions information forwarding connection is provided, and / or in .the SyGtem those with the Reeimer / 10 / in a suitable connection with the information in both directions v / pus-conducting connection by the computer./10/ controlled test specimen transport means / 48 / are provided, -with which means / 43 / any two Units of the individual storages / 44 / » _{Rehearsal rooms / 34 / f} Prüfrüumo / 40 /, bsw. Collective memory / 46 / are connected, the computer / 10 / also being programmed for the automatic transfer of the test specimens. • 4 · embodiment of the system according to claim 3, characterized in that all. Test specimens / 31 / receiving or treatment units with the test specimen transport means / 48 / controlled by the computer / 10 / ... are connected. 5 · Implementation of the system according to one of the Claims 1-4 characterized in that the invoice / 10 / with at least one research, examination and display the optimization part or final results Display unit / 42 / is connected «- · ■ 6. Embodiment of the system according to one of the Claims 1-5, characterized in that the actuating elements / 36 / and measuring elements / 38 / arranged in the individual rehearsal rooms / 34 / are connected to one another and the control loop formed in this way is controlled by means of the computer / 10 /. ■. 7. Implementation of the system according to a of claims 1-5 characterized in that that the actuating elements / 36 / and measuring elements / 38 / belonging to the individual devices / 30 / via the computer / 10 / are connected to the control loop. 509840/1071 O. Form doe systems according to claim 6 or 7 characterized by the fact that the Stellai-gano / 37 / and / or the Kosaapparato / 42 / via Dicital / Analof; - ■ -Converter. / 54 / possibly by a servooyatew / 56 / oind connected to the computer / 10 /. 9. AuQxUlirungoform dea syatems according to Anapruch 6 or 7, dadiu'ch marked, daaa cwiochon the computer / 10 / and the other units over the Syctcina Zoom-scan lines realized on-line connection consists. 50984Ö / 1Ö71 2 5 1 1 ϋ Ο Directory of the used designations.ITiuiierierung the ■ characters 10 Hey buckets 30 Establishment 31 Test specimen 34 Sample room 3G Stel! Organ 30 Heasorgan 40 test room 42 measuring device, 44 storage room 46 hem tape liner 48 Test specimen tranaport means 52 slide unit 54 digital / analog converter 56 ServoDystem Time sampling line 509840/1071