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Optimization of Power Chain for AI Collaborative Robotic and CNC Linkage Systems: A Precise MOSFET Selection Scheme Based on Auxiliary Power DCDC, Servo Drive Inverter, and Intelligent Peripheral Management
AI Collaborative Robot & CNC Power Chain Topology Diagram

AI Collaborative Robot & CNC System Power Chain Overall Topology Diagram

graph LR %% Main Power Input & Distribution subgraph "Main Power Input & Distribution" AC_MAIN["3-Phase 380VAC Industrial Grid"] --> MAIN_BREAKER["Main Circuit Breaker"] MAIN_BREAKER --> POWER_DIST["Power Distribution Unit"] POWER_DIST --> HV_DC_BUS["High-Voltage DC Bus
300-400VDC"] POWER_DIST --> CONTROL_POWER["Control System Power Rail"] end %% Auxiliary Isolated DCDC Conversion subgraph "Auxiliary Isolated DCDC Conversion" HV_DC_BUS --> FLYBACK_PRIMARY["Flyback Transformer Primary"] FLYBACK_PRIMARY --> DCDC_SW_NODE["Primary Switching Node"] subgraph "Primary Side MOSFET Array" Q_AUX1["VBM15R30S
500V/30A SJ-MOSFET"] Q_AUX2["VBM15R30S
500V/30A SJ-MOSFET"] end DCDC_SW_NODE --> Q_AUX1 DCDC_SW_NODE --> Q_AUX2 Q_AUX1 --> PRIMARY_GND Q_AUX2 --> PRIMARY_GND FLYBACK_SECONDARY["Flyback Transformer Secondary"] --> OUTPUT_RECT["Output Rectification"] OUTPUT_RECT --> AUX_RAILS["Auxiliary Power Rails
24V/12V/5V"] AUX_CONTROLLER["Flyback PWM Controller"] --> DCDC_DRIVER["Gate Driver"] DCDC_DRIVER --> Q_AUX1 DCDC_DRIVER --> Q_AUX2 end %% Servo & Spindle Drive Inverter Stage subgraph "Servo & Spindle Drive Inverter Stage" HV_DC_BUS --> SERVO_INVERTER["Servo Drive Inverter Bridge"] subgraph "High-Current P-MOSFET Array" Q_SERVO1["VBGQA2405
-40V/-80A P-MOSFET"] Q_SERVO2["VBGQA2405
-40V/-80A P-MOSFET"] Q_SERVO3["VBGQA2405
-40V/-80A P-MOSFET"] Q_SERVO4["VBGQA2405
-40V/-80A P-MOSFET"] Q_SERVO5["VBGQA2405
-40V/-80A P-MOSFET"] Q_SERVO6["VBGQA2405
-40V/-80A P-MOSFET"] end SERVO_INVERTER --> Q_SERVO1 SERVO_INVERTER --> Q_SERVO2 SERVO_INVERTER --> Q_SERVO3 SERVO_INVERTER --> Q_SERVO4 SERVO_INVERTER --> Q_SERVO5 SERVO_INVERTER --> Q_SERVO6 Q_SERVO1 --> SERVO_OUT["Servo Motor Phase U"] Q_SERVO2 --> SERVO_OUT Q_SERVO3 --> SERVO_OUT Q_SERVO4 --> SERVO_OUT Q_SERVO5 --> SERVO_OUT Q_SERVO6 --> SERVO_OUT SERVO_CONTROLLER["Servo Motion Controller"] --> SERVO_DRIVER["High-Speed Gate Driver"] SERVO_DRIVER --> Q_SERVO1 SERVO_DRIVER --> Q_SERVO2 SERVO_DRIVER --> Q_SERVO3 SERVO_DRIVER --> Q_SERVO4 SERVO_DRIVER --> Q_SERVO5 SERVO_DRIVER --> Q_SERVO6 end %% Intelligent Peripheral Management subgraph "Intelligent Peripheral Management" AUX_RAILS --> PERIPHERAL_BUS["Peripheral Power Bus"] subgraph "Multi-Channel Power Switches" SW_SENSOR1["VBA3615 Channel 1
60V/10A Dual N-MOS"] SW_SENSOR2["VBA3615 Channel 2
60V/10A Dual N-MOS"] SW_ACTUATOR1["VBA3615 Channel 3
60V/10A Dual N-MOS"] SW_ACTUATOR2["VBA3615 Channel 4
60V/10A Dual N-MOS"] SW_FAN_LIGHT["VBA3615 Channel 5
60V/10A Dual N-MOS"] SW_COMM["VBA3615 Channel 6
60V/10A Dual N-MOS"] end PERIPHERAL_BUS --> SW_SENSOR1 PERIPHERAL_BUS --> SW_SENSOR2 PERIPHERAL_BUS --> SW_ACTUATOR1 PERIPHERAL_BUS --> SW_ACTUATOR2 PERIPHERAL_BUS --> SW_FAN_LIGHT PERIPHERAL_BUS --> SW_COMM SW_SENSOR1 --> SENSORS["Vision/Force/Proximity Sensors"] SW_SENSOR2 --> SENSORS SW_ACTUATOR1 --> ACTUATORS["Small Actuators & Solenoids"] SW_ACTUATOR2 --> ACTUATORS SW_FAN_LIGHT --> COOLING["Cooling Fans & LED Lighting"] SW_COMM --> COM_MODULES["Communication Modules"] MAIN_MCU["Main System MCU"] --> GPIO_EXPANDER["GPIO Expander/PMIC"] GPIO_EXPANDER --> SW_SENSOR1 GPIO_EXPANDER --> SW_SENSOR2 GPIO_EXPANDER --> SW_ACTUATOR1 GPIO_EXPANDER --> SW_ACTUATOR2 GPIO_EXPANDER --> SW_FAN_LIGHT GPIO_EXPANDER --> SW_COMM end %% Thermal Management & Protection subgraph "Hierarchical Thermal Management" COOLING_LEVEL1["Level 1: Forced Air/Cold Plate"] --> Q_SERVO1 COOLING_LEVEL1 --> Q_SERVO2 COOLING_LEVEL2["Level 2: PCB Heatsink + Airflow"] --> Q_AUX1 COOLING_LEVEL2 --> Q_AUX2 COOLING_LEVEL3["Level 3: PCB Conduction"] --> SW_SENSOR1 COOLING_LEVEL3 --> SW_SENSOR2 TEMP_SENSORS["Temperature Sensors"] --> THERMAL_MCU["Thermal Management Controller"] THERMAL_MCU --> FAN_PWM["Fan PWM Control"] THERMAL_MCU --> PUMP_CTRL["Liquid Pump Control"] FAN_PWM --> COOLING_FANS["System Cooling Fans"] PUMP_CTRL --> LIQUID_PUMP["Liquid Cooling Pump"] end subgraph "System Protection Circuits" RCD_SNUBBER["RCD Snubber Network"] --> Q_AUX1 RC_SNUBBER["RC Absorption Circuit"] --> Q_AUX2 FREE_WHEEL["Freewheeling Diodes"] --> ACTUATORS TVS_PROTECT["TVS Protection Array"] --> SERVO_DRIVER TVS_PROTECT --> DCDC_DRIVER CURRENT_SENSE["High-Precision Current Sensing"] --> FAULT_DETECT["Fault Detection Circuit"] VOLTAGE_MON["Voltage Monitoring"] --> FAULT_DETECT FAULT_DETECT --> SHUTDOWN["System Shutdown Signal"] SHUTDOWN --> MAIN_BREAKER end %% Communication & Control Network MAIN_MCU --> FIELD_BUS["Fieldbus Interface
(EtherCAT/CANOpen)"] MAIN_MCU --> AI_INTERFACE["AI Coordination Interface"] MAIN_MCU --> CNC_COMM["CNC Machine Communication"] FIELD_BUS --> SERVO_CONTROLLER FIELD_BUS --> CNC_COMM AI_INTERFACE --> CLOUD_CONNECT["Cloud/Edge Computing"] %% Style Definitions style Q_AUX1 fill:#e8f5e8,stroke:#4caf50,stroke-width:2px style Q_SERVO1 fill:#ffebee,stroke:#f44336,stroke-width:2px style SW_SENSOR1 fill:#e3f2fd,stroke:#2196f3,stroke-width:2px style MAIN_MCU fill:#fce4ec,stroke:#e91e63,stroke-width:2px

Preface: Building the "Power Nervous System" for Precision Automation – Discussing the Systems Thinking Behind Power Device Selection
In the era of intelligent manufacturing, the seamless collaboration between AI-powered robots and CNC machining centers demands a power system that is not only robust and efficient but also intelligent and responsive. The core performance metrics—high dynamic response of servo axes, unwavering stability of the CNC spindle, and the coordinated, fault-tolerant operation of numerous sensors and peripherals—are fundamentally anchored in the selection and integration of power semiconductor devices. This article employs a holistic, system-level design philosophy to address the core challenges within the power delivery path of such integrated systems: how to select the optimal power MOSFETs for the three critical nodes—auxiliary isolated DCDC conversion, high-current servo/spindle drive inversion, and multi-channel intelligent peripheral power management—under the stringent constraints of high power density, exceptional reliability, electromagnetic compatibility (EMC), and precise thermal control.
I. In-Depth Analysis of the Selected Device Combination and Application Roles
1. The Reliable Auxiliary Power Heart: VBM15R30S (500V SJ-MOSFET, 30A, TO-220) – Isolated Auxiliary DCDC Primary-Side Switch
Core Positioning & Topology Deep Dive: This Super Junction MOSFET is ideally suited for the primary-side switch in isolated flyback or forward converter topologies that generate low-voltage rails (e.g., 24V, 12V) for control logic, sensors, and communication modules from a high-voltage DC bus (typically 300-400V). The 500V VDS rating provides robust margin against input voltage surges and leakage inductance spikes. The SJ-Multi-EPI technology offers an excellent balance between low on-resistance (140mΩ) and low gate charge, crucial for achieving high efficiency at switching frequencies common in auxiliary supplies (50kHz-150kHz).
Key Technical Parameter Analysis:
Efficiency Optimization: The relatively low RDS(on) minimizes conduction loss, while the inherent fast switching capability of SJ technology helps reduce switching loss, directly contributing to the efficiency of the always-on auxiliary power supply.
Robustness in Harsh Environments: The TO-220 package facilitates efficient heat sinking, essential for converters located in densely packed electrical cabinets. The ±30V VGS rating enhances gate oxide robustness against noise.
Selection Trade-off: Compared to standard Planar MOSFETs, it offers significantly better FOM (Figure of Merit), leading to a cooler and more compact DCDC design, which is vital for system reliability.
2. The Muscle of Motion Control: VBGQA2405 (-40V P-MOSFET, -80A, DFN8(5x6)) – Servo/Spindle Drive Inverter Low-Side Switch (or High-Current Load Switch)
Core Positioning & System Benefit: This device redefines power density in drive stages. Its astonishingly low RDS(on) of 6.3mΩ @10V (P-channel, -40V) makes it a prime candidate for the low-side switch in high-current, low-voltage (<48V) servo or spindle inverter bridges, or as an ultra-efficient high-side load switch.
Ultimate Efficiency & Power Density: In a servo drive, lower conduction loss translates directly into higher continuous and peak torque capability, reduced heating, and extended component life. The DFN8 package's ultra-low thermal resistance allows it to handle the 80A rating when paired with an effective PCB thermal design.
Enabling Compact Drives: The SGT (Shielded Gate Trench) technology and advanced package enable a drastic reduction in the physical size of the power stage, which is critical for building compact servo drives or integrating drives into robot joints.
Application Flexibility: As a P-MOSFET, it simplifies high-side switching when controlling large peripheral loads (e.g., solenoid banks, tool changers) directly from a logic-level signal without a charge pump.
3. The Intelligent Peripheral Coordinator: VBA3615 (Dual 60V N-MOSFET, 10A, SOP8) – Multi-Channel Sensor & Actuator Power Distribution Switch
Core Positioning & System Integration Advantage: This dual N-channel MOSFET in a compact SOP8 package is the cornerstone of intelligent, granular power management for the myriad of sensors (vision, force, proximity), fans, lights, and small actuators in a robotic cell.
Intelligent Power Gating: Each channel can be independently controlled by the system's main controller or a local microcontroller to enable/disable peripheral modules. This facilitates power sequencing, sleep modes, and fast isolation of faulty sub-systems without disrupting the entire line.
Space-Saving Design: The dual integration halves the footprint required for discrete switches, simplifying PCB layout for dense I/O controller boards.
Performance for Digital Loads: With low RDS(on) (12mΩ @10V) and a logic-level compatible Vth (1.7V), it ensures minimal voltage drop when powering sensitive digital loads, maintaining signal integrity.
II. System Integration Design and Expanded Key Considerations
1. Control, Drive, and Communication Synergy
Auxiliary DCDC Synchronization: The switching of VBM15R30S must be tightly regulated by its dedicated PWM controller, with feedback loops ensuring stable voltage rails for sensitive analog and digital circuits.
High-Fidelity Servo Drive: Devices like VBGQA2405, used in the inverter bridge, require matched, high-speed gate drivers to accurately execute the current vector commands from the servo controller, minimizing torque ripple and enabling precise positioning.
Digital Power Management Bus: The gates of VBA3615 should be controlled via a serial bus (e.g., I2C, SPI) through GPIO expanders or dedicated power management ICs, allowing software-defined power-up sequences and real-time status monitoring of each peripheral branch.
2. Hierarchical Thermal Management Strategy
Primary Heat Source (Forced Air/Cold Plate): The servo/spindle inverter stage containing high-current switches like VBGQA2405 is the primary heat source. It requires direct mounting onto a heatsink, potentially integrated with the motor's cooling system.
Secondary Heat Source (PCB Heatsink + Airflow): The VBM15R30S in the auxiliary DCDC should be mounted on a dedicated PCB heatsink area with good airflow from system fans.
Tertiary Heat Source (PCB Conduction): The multi-channel switches like VBA3615 rely on strategic PCB layout—using thick copper layers, multiple vias, and thermal relief pads—to dissipate heat to the board and ambient air.
3. Engineering Details for Reliability Reinforcement
Electrical Stress Protection:
VBM15R30S: Requires an RCD snubber network across the transformer primary to clamp voltage spikes caused by leakage inductance during turn-off.
Inductive Load Control: For loads switched by VBA3615 or VBGQA2405, freewheeling diodes or TVS devices are mandatory to handle inductive kickback.
Enhanced Gate Protection: All gate drives should employ series resistors for switching speed control and EMI reduction. Gate-source Zener diodes (e.g., ±15V to ±20V) are essential for protection against transients. Strong pull-downs ensure unambiguous turn-off.
Derating Practice:
Voltage Derating: Operate VBM15R30S below 400V (80% of 500V). Ensure VBGQA2405 VDS stress is derated appropriately from -40V.
Current & Thermal Derating: Use junction temperature and transient thermal impedance curves to derate the continuous current (ID) based on the actual operating Tj (target < 110°C for long life). Respect the Safe Operating Area (SOA) for pulsed currents during motor acceleration or tool engagement.
III. Quantifiable Perspective on Scheme Advantages and Competitor Comparison
Quantifiable Efficiency Improvement: Replacing standard MOSFETs with VBGQA2405 in a 5kW servo drive can reduce inverter conduction losses by over 40%, directly lowering cabinet cooling requirements and energy consumption.
Quantifiable Space Saving & Reliability: Using VBA3615 for managing 16 sensor/actuator channels saves >60% PCB area compared to discrete MOSFETs and reduces solder joints, thereby increasing the MTBF of the control board.
Lifecycle Cost Optimization: The selection of high-efficiency, thermally robust devices like VBM15R30S and VBGQA2405 reduces thermal stress on neighboring components, leading to lower failure rates, reduced downtime, and higher overall equipment effectiveness (OEE).
IV. Summary and Forward Look
This scheme constructs a refined, optimized power chain for AI and CNC integrated systems, addressing auxiliary power generation, high-dynamic motion control, and intelligent peripheral management. The core philosophy is "right-sizing for the task, optimizing for the system":
Auxiliary Power Level – Focus on "Robust Efficiency": Select devices like the SJ-MOSFET that offer high voltage capability and good switching performance for reliable, always-on power conversion.
Motion Power Level – Focus on "Ultimate Density & Efficiency": Leverage advanced package and SGT technology (e.g., VBGQA2405) to achieve maximum current handling in minimal volume, which is paramount for compact, high-performance drives.
Peripheral Management Level – Focus on "Granular Intelligence & Integration": Use highly integrated multi-channel switches (e.g., VBA3615) to enable software-controlled power distribution, enhancing system flexibility and diagnostic capabilities.
Future Evolution Directions:
Integrated Motor Drive Modules: For ultimate compactness, future designs may adopt pre-assembled power modules that integrate the inverter MOSFETs (GaN or SiC for highest performance), gate drivers, and protection into a single package.
Fully Digital Power Management: The trend will move towards digital power controllers that manage not only the main converters but also every intelligent load switch via a bus, providing comprehensive energy analytics and predictive maintenance data.
Engineers can adapt this framework based on specific system parameters such as main bus voltage, peak servo/spindle power, the number and type of peripherals, and the available cooling methods to design a high-performance, reliable, and intelligent power system for advanced automation cells.

Detailed Topology Diagrams

Auxiliary Isolated DCDC Conversion Topology Detail

graph LR subgraph "Flyback Converter Primary Side" HV_IN["High-Voltage DC Bus (300-400VDC)"] --> FLYBACK_TRANS["Flyback Transformer Primary"] FLYBACK_TRANS --> SW_NODE["Primary Switching Node"] subgraph "Primary MOSFET & Protection" Q_PRIMARY["VBM15R30S
500V/30A SJ-MOSFET"] RCD_CLAMP["RCD Snubber Network"] GATE_PROTECT["Gate-Source Zener Protection"] end SW_NODE --> Q_PRIMARY Q_PRIMARY --> PRIMARY_GND2["Primary Ground"] RCD_CLAMP --> FLYBACK_TRANS GATE_PROTECT --> Q_PRIMARY end subgraph "Control & Drive Circuit" PWM_IC["Flyback PWM Controller"] --> GATE_DRIVE["Gate Driver IC"] GATE_DRIVE --> GATE_RES["Series Gate Resistor"] GATE_RES --> Q_PRIMARY FEEDBACK["Optocoupler Feedback"] --> PWM_IC CURRENT_SENSE2["Primary Current Sensing"] --> PWM_IC end subgraph "Secondary Side & Output" FLYBACK_SEC["Flyback Transformer Secondary"] --> RECTIFIER["Output Rectifier Diode"] RECTIFIER --> OUTPUT_FILTER["LC Output Filter"] OUTPUT_FILTER --> AUX_OUT["Auxiliary Output Rails
24V/12V/5V"] AUX_OUT --> LOAD1["Control Logic Circuits"] AUX_OUT --> LOAD2["Sensor Arrays"] AUX_OUT --> LOAD3["Communication Modules"] VOLTAGE_DIV["Voltage Divider"] --> FEEDBACK end style Q_PRIMARY fill:#e8f5e8,stroke:#4caf50,stroke-width:2px

Servo & Spindle Drive Inverter Topology Detail

graph LR subgraph "3-Phase Inverter Bridge Configuration" DC_IN["DC Bus Input (300-400V)"] --> PHASE_U["Phase U Bridge Leg"] DC_IN --> PHASE_V["Phase V Bridge Leg"] DC_IN --> PHASE_W["Phase W Bridge Leg"] subgraph "Phase U Bridge Leg" direction TB Q_U_HIGH["High-Side Switch
VBGQA2405 P-MOSFET"] Q_U_LOW["Low-Side Switch
VBGQA2405 P-MOSFET"] Q_U_HIGH --> MOTOR_U["Motor Phase U"] Q_U_LOW --> MOTOR_U end subgraph "Phase V Bridge Leg" direction TB Q_V_HIGH["High-Side Switch
VBGQA2405 P-MOSFET"] Q_V_LOW["Low-Side Switch
VBGQA2405 P-MOSFET"] Q_V_HIGH --> MOTOR_V["Motor Phase V"] Q_V_LOW --> MOTOR_V end subgraph "Phase W Bridge Leg" direction TB Q_W_HIGH["High-Side Switch
VBGQA2405 P-MOSFET"] Q_W_LOW["Low-Side Switch
VBGQA2405 P-MOSFET"] Q_W_HIGH --> MOTOR_W["Motor Phase W"] Q_W_LOW --> MOTOR_W end end subgraph "Gate Driving & Control" SERVO_PROC["Servo DSP/FPGA"] --> PWM_GEN["PWM Generation Module"] PWM_GEN --> DEAD_TIME["Dead-Time Insertion"] DEAD_TIME --> GATE_DRIVERS["Gate Driver Array"] subgraph "Gate Driver per Phase" DRIVER_U["Phase U Driver"] DRIVER_V["Phase V Driver"] DRIVER_W["Phase W Driver"] end GATE_DRIVERS --> DRIVER_U GATE_DRIVERS --> DRIVER_V GATE_DRIVERS --> DRIVER_W DRIVER_U --> Q_U_HIGH DRIVER_U --> Q_U_LOW DRIVER_V --> Q_V_HIGH DRIVER_V --> Q_V_LOW DRIVER_W --> Q_W_HIGH DRIVER_W --> Q_W_LOW end subgraph "Current Sensing & Feedback" SHUNT_RES["Shunt Resistors"] --> CURRENT_AMP["Current Sense Amplifiers"] CURRENT_AMP --> ADC["High-Speed ADC"] ADC --> SERVO_PROC ENCODER["Motor Encoder"] --> POSITION_FB["Position Feedback"] POSITION_FB --> SERVO_PROC end subgraph "Thermal Management" HEATSINK["Forced Air/Cold Plate Heatsink"] --> Q_U_HIGH HEATSINK --> Q_U_LOW HEATSINK --> Q_V_HIGH HEATSINK --> Q_V_LOW HEATSINK --> Q_W_HIGH HEATSINK --> Q_W_LOW THERMAL_PAD["PCB Thermal Pad Design"] --> Q_U_HIGH end style Q_U_HIGH fill:#ffebee,stroke:#f44336,stroke-width:2px

Intelligent Peripheral Management Topology Detail

graph LR subgraph "Multi-Channel Power Distribution" PWR_IN["24V Auxiliary Power"] --> DIST_BUS["Distribution Bus"] subgraph "Dual N-MOSFET Switch Channels" CH1["VBA3615 Channel 1-2
Dual 60V/10A N-MOS"] CH2["VBA3615 Channel 3-4
Dual 60V/10A N-MOS"] CH3["VBA3615 Channel 5-6
Dual 60V/10A N-MOS"] CH4["VBA3615 Channel 7-8
Dual 60V/10A N-MOS"] end DIST_BUS --> CH1 DIST_BUS --> CH2 DIST_BUS --> CH3 DIST_BUS --> CH4 end subgraph "Load Connections & Protection" CH1 --> SENSOR_GROUP["Sensor Group 1-2
Vision/Force/Proximity"] CH2 --> ACTUATOR_GROUP["Actuator Group 1-2
Solenoids/Valves"] CH3 --> COOLING_GROUP["Cooling & Lighting
Fans/LEDs"] CH4 --> COMM_GROUP["Communication Group
CAN/Ethernet Modules"] subgraph "Load Protection" TVS_ARRAY2["TVS Diode Array"] --> SENSOR_GROUP FREE_DIODES["Freewheeling Diodes"] --> ACTUATOR_GROUP RC_FILTER["RC Filter Network"] --> COMM_GROUP end end subgraph "Digital Control Interface" MAIN_CONTROLLER["Main System Controller"] --> COMM_BUS["Communication Bus (I2C/SPI)"] COMM_BUS --> PMIC["Power Management IC"] subgraph "GPIO Control Signals" GPIO1["GPIO Channel 1"] GPIO2["GPIO Channel 2"] GPIO3["GPIO Channel 3"] GPIO4["GPIO Channel 4"] end PMIC --> GPIO1 PMIC --> GPIO2 PMIC --> GPIO3 PMIC --> GPIO4 GPIO1 --> LEVEL_SHIFT1["Level Shifter"] GPIO2 --> LEVEL_SHIFT2["Level Shifter"] GPIO3 --> LEVEL_SHIFT3["Level Shifter"] GPIO4 --> LEVEL_SHIFT4["Level Shifter"] LEVEL_SHIFT1 --> CH1 LEVEL_SHIFT2 --> CH2 LEVEL_SHIFT3 --> CH3 LEVEL_SHIFT4 --> CH4 end subgraph "Monitoring & Diagnostics" CURRENT_MON["Current Monitoring"] --> PMIC VOLTAGE_MON2["Voltage Monitoring"] --> PMIC TEMP_MON["Temperature Monitoring"] --> PMIC PMIC --> STATUS_OUT["Status Output"] STATUS_OUT --> MAIN_CONTROLLER FAULT_LOGIC["Fault Logic Circuit"] --> SHUTDOWN2["Channel Shutdown"] SHUTDOWN2 --> CH1 SHUTDOWN2 --> CH2 SHUTDOWN2 --> CH3 SHUTDOWN2 --> CH4 end style CH1 fill:#e3f2fd,stroke:#2196f3,stroke-width:2px
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