運(yun)(yun)動(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)卡(ka)是一種基(ji)于(yu)PC機(ji)(ji)及工(gong)業PC機(ji)(ji)、用(yong)于(yu)各種運(yun)(yun)動(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)場合（包括位(wei)移、速(su)度(du)、加速(su)度(du)等）的(de)(de)(de)(de)上(shang)位(wei)控(kong)(kong)(kong)(kong)制(zhi)(zhi)單元(yuan)。利用(yong)高(gao)性(xing)能(neng)(neng)微處理器(qi)及大規模可編(bian)程器(qi)件，運(yun)(yun)動(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)卡(ka)可以實現對伺服電(dian)機(ji)(ji)的(de)(de)(de)(de)高(gao)性(xing)能(neng)(neng)多軸協調控(kong)(kong)(kong)(kong)制(zhi)(zhi)，能(neng)(neng)夠發出連續且(qie)高(gao)頻率的(de)(de)(de)(de)脈(mo)沖，并通過(guo)改編(bian)脈(mo)沖的(de)(de)(de)(de)頻率來(lai)控(kong)(kong)(kong)(kong)制(zhi)(zhi)電(dian)機(ji)(ji)的(de)(de)(de)(de)速(su)度(du)。作為基(ji)于(yu)PC機(ji)(ji)的(de)(de)(de)(de)上(shang)位(wei)控(kong)(kong)(kong)(kong)制(zhi)(zhi)單元(yuan)，運(yun)(yun)動(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)卡(ka)在(zai)專(zhuan)(zhuan)機(ji)(ji)系(xi)統(tong)的(de)(de)(de)(de)開(kai)(kai)發過(guo)程中，具有更大的(de)(de)(de)(de)靈(ling)活(huo)性(xing)和(he)開(kai)(kai)放(fang)性(xing)。在(zai)此基(ji)礎上(shang)，程序員(yuan)也能(neng)(neng)開(kai)(kai)發出功能(neng)(neng)強(qiang)大的(de)(de)(de)(de)運(yun)(yun)動(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)系(xi)統(tong)。正因為以上(shang)的(de)(de)(de)(de)特(te)點，專(zhuan)(zhuan)業運(yun)(yun)動(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)卡(ka)不僅在(zai)機(ji)(ji)床行業得到大量推廣使用(yong)，而(er)且(qie)在(zai)在(zai)許多小(xiao)型專(zhuan)(zhuan)機(ji)(ji)系(xi)統(tong)中也得到應(ying)用(yong)。ETH_GAS系(xi)列用(yong)于(yu)機(ji)(ji)器(qi)人、數控(kong)(kong)(kong)(kong)機(ji)(ji)床、3C設備、固晶機(ji)(ji)、焊(han)線機(ji)(ji)、激光切割、激光焊(han)接、包裝機(ji)(ji)械、木工(gong)機(ji)(ji)械。東(dong)莞(guan)正運(yun)(yun)動(dong)運(yun)(yun)動(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)卡(ka)代理

日系廠商歐(ou)(ou)姆龍2012 年開始推廣 EtherCAT 總線(xian)(xian)(xian)伺(si)(si)服，主推在如鋰(li)(li)電(dian)(dian)(dian)、包裝這樣(yang)的(de)(de)(de)(de)(de)(de)市(shi)場(chang)（傳統的(de)(de)(de)(de)(de)(de)脈(mo)沖(chong)伺(si)(si)服針對(dui)高(gao)精度(du)定(ding)位(wei)(wei)(wei)控(kong)(kong)制(zhi)滿(man)足(zu)不(bu)了，低端市(shi)場(chang)也(ye)不(bu)需要(yao)像總線(xian)(xian)(xian)伺(si)(si)服那么(me)高(gao)的(de)(de)(de)(de)(de)(de)性能(neng)(neng)）。尤其(qi)在鋰(li)(li)電(dian)(dian)(dian)行(xing)業，歐(ou)(ou)姆龍的(de)(de)(de)(de)(de)(de)存在感特別強，2021年其(qi)PLC產(chan)(chan)品在鋰(li)(li)電(dian)(dian)(dian)行(xing)業的(de)(de)(de)(de)(de)(de)份額遙遙考(kao)前(qian)(qian)。一般(ban)來說， 在一條鋰(li)(li)電(dian)(dian)(dian)產(chan)(chan)線(xian)(xian)(xian)上(shang)出(chu)(chu)于統一性和(he)兼容性的(de)(de)(de)(de)(de)(de)角(jiao)度(du)考(kao)量，總線(xian)(xian)(xian)EtherCAT的(de)(de)(de)(de)(de)(de)協議會比較(jiao)受到青(qing)睞(lai)。當下，國產(chan)(chan)伺(si)(si)服廠商的(de)(de)(de)(de)(de)(de)運(yun)(yun)動(dong)控(kong)(kong)制(zhi)型PLC產(chan)(chan)品也(ye)大多(duo)(duo)選(xuan)用(yong)(yong)EtherCAT作為其(qi)總線(xian)(xian)(xian)協議的(de)(de)(de)(de)(de)(de)主力(li)選(xuan)擇。運(yun)(yun)動(dong)控(kong)(kong)制(zhi)卡(ka)方(fang)面(mian)，目前(qian)(qian)國內(nei)支持(chi)(chi)EtherCAT的(de)(de)(de)(de)(de)(de)并(bing)不(bu)多(duo)(duo)，東莞(guan)博派(pai)智能(neng)(neng)科技有(you)(you)限公(gong)司的(de)(de)(de)(de)(de)(de)ECAT_GAS2系列是做的(de)(de)(de)(de)(de)(de)比較(jiao)好的(de)(de)(de)(de)(de)(de)，不(bu)僅(jin)支持(chi)(chi)EtherCAT總線(xian)(xian)(xian)，還(huan)有(you)(you)以下特點：1、板卡(ka)采用(yong)(yong)24V直流電(dian)(dian)(dian)源供電(dian)(dian)(dian)。2、控(kong)(kong)制(zhi)卡(ka)自身有(you)(you)32路通用(yong)(yong)輸入，采用(yong)(yong)光耦(ou)隔(ge)離，抗干擾(rao)能(neng)(neng)力(li)強,數(shu)量可(ke)(ke)(ke)(ke)(ke)擴(kuo)展(zhan)。3、控(kong)(kong)制(zhi)卡(ka)自身有(you)(you)16路通用(yong)(yong)輸出(chu)(chu)，可(ke)(ke)(ke)(ke)(ke)直接(jie)驅(qu)動(dong)繼電(dian)(dian)(dian)器，數(shu)量可(ke)(ke)(ke)(ke)(ke)擴(kuo)展(zhan)。4、控(kong)(kong)制(zhi)卡(ka)支持(chi)(chi)IO擴(kuo)展(zhan)，可(ke)(ke)(ke)(ke)(ke)擴(kuo)展(zhan)至2048輸入/2048輸出(chu)(chu)。可(ke)(ke)(ke)(ke)(ke)滿(man)足(zu)所(suo)有(you)(you)應用(yong)(yong)場(chang)合。5、支持(chi)(chi)以太網或者串口編(bian)程。6、脈(mo)沖(chong)輸出(chu)(chu)頻率達2MHz7、控(kong)(kong)制(zhi)卡(ka)支持(chi)(chi)多(duo)(duo)個并(bing)聯(lian)使(shi)用(yong)(yong)。8、控(kong)(kong)制(zhi)卡(ka)支持(chi)(chi)點位(wei)(wei)(wei)運(yun)(yun)動(dong)、速度(du)控(kong)(kong)制(zhi)、直線(xian)(xian)(xian)、圓弧、連續軌跡插補，支持(chi)(chi)速度(du)前(qian)(qian)瞻。硬件捕(bu)獲、電(dian)(dian)(dian)子齒(chi)輪/電(dian)(dian)(dian)子凸輪、位(wei)(wei)(wei)置(zhi)比較(jiao)輸出(chu)(chu)。支持(chi)(chi)PT模式與刀向跟(gen)隨。東莞(guan)正運(yun)(yun)動(dong)運(yun)(yun)動(dong)控(kong)(kong)制(zhi)卡(ka)代理東莞(guan)博派(pai)智能(neng)(neng)科技有(you)(you)限公(gong)司ETH_GAS系列運(yun)(yun)動(dong)控(kong)(kong)制(zhi)卡(ka)在性能(neng)(neng)和(he)穩定(ding)性方(fang)面(mian)均(jun)處于國內(nei)較(jiao)前(qian)(qian)地位(wei)(wei)(wei)。

博派智(zhi)能科技運動(dong)控(kong)制(zhi)卡的開(kai)發方(fang)式(shi)：（1）支持(chi)網絡式(shi)PC上位機開(kai)發（C#/C++/Labview/Qt/Python/vb/.NET/ROS/MATLAB/Delphi/linux）；（2）可支持(chi)PC程(cheng)序(xu)和控(kong)制(zhi)器內(nei)置(zhi)程(cheng)序(xu)同時工作(zuo);（3）多種加密方(fang)式(shi)，確(que)保用(yong)戶程(cheng)序(xu)安全;（4）統一的API函數(shu)(shu)接口，所(suo)有產品共(gong)用(yong)同一套(tao)API函數(shu)(shu)。豐富的運動(dong)控(kong)制(zhi)功(gong)能：（1）點(dian)(dian)位運動(dong)、電子(zi)凸輪、電子(zi)齒(chi)輪、位置(zhi)鎖(suo)(suo)存(cun)、同步跟隨、虛擬軸(zhou)(zhou)等；（2）直線插(cha)補(bu)、圓弧插(cha)補(bu)、螺旋插(cha)補(bu)、連續軌(gui)跡等；（3）動(dong)態變速、自適(shi)應(ying)前(qian)瞻(zhan)等。功(gong)能特點(dian)(dian)：（1）軸(zhou)(zhou)數(shu)(shu)：2-32軸(zhou)(zhou)可選；32軸(zhou)(zhou)EtherCAT,（2）IO：16進16出(chu)，通過IO擴(kuo)展或Ethernet交(jiao)換機可擴(kuo)展至(zhi)4096進4096出(chu)；（3）編碼器數(shu)(shu)：1~N路;（4）模擬量：支持(chi)擴(kuo)展，可擴(kuo)展至(zhi)16路AD，16路DA；（5）通訊：Ethernet;（6）脈(mo)沖(chong)頻率(lv)：2M;（7）脈(mo)沖(chong)模式(shi)：方(fang)向/脈(mo)沖(chong)ECAT。GAS系列高性能多軸(zhou)(zhou)運動(dong)控(kong)制(zhi)卡可用(yong)于電子(zi)半導體設(she)(she)(she)(she)備(bei)(bei)(bei)(bei)（檢測類設(she)(she)(she)(she)備(bei)(bei)(bei)(bei)、組裝類設(she)(she)(she)(she)備(bei)(bei)(bei)(bei)、鎖(suo)(suo)附類設(she)(she)(she)(she)備(bei)(bei)(bei)(bei)、焊接機）、點(dian)(dian)膠(jiao)設(she)(she)(she)(she)備(bei)(bei)(bei)(bei)、激光(guang)加工設(she)(she)(she)(she)備(bei)(bei)(bei)(bei)、非標設(she)(she)(she)(she)備(bei)(bei)(bei)(bei)、印刷包裝設(she)(she)(she)(she)備(bei)(bei)(bei)(bei)、紡織服裝設(she)(she)(she)(she)備(bei)(bei)(bei)(bei)、舞臺(tai)娛樂設(she)(she)(she)(she)備(bei)(bei)(bei)(bei)和醫療設(she)(she)(she)(she)備(bei)(bei)(bei)(bei)和流水線等應(ying)用(yong)場合(he)。

博派(pai)科(ke)技ETH_GAS系列控(kong)制卡支(zhi)持(chi)多(duo)達12軸直線插(cha)補、任意圓弧插(cha)補、空間圓弧、螺旋插(cha)補、電(dian)(dian)(dian)子(zi)(zi)凸輪(lun)、電(dian)(dian)(dian)子(zi)(zi)齒輪(lun)、同(tong)步跟隨、虛擬(ni)軸等(deng)；采用優化的(de)(de)網絡通訊協議可(ke)(ke)以(yi)(yi)實(shi)現實(shi)時的(de)(de)運動控(kong)制。博派(pai)ETH_GAS系列運動控(kong)制卡支(zhi)持(chi)以(yi)(yi)太網，RS232通訊接口和電(dian)(dian)(dian)腦相連(lian)，接收電(dian)(dian)(dian)腦的(de)(de)指令運行(xing)，可(ke)(ke)以(yi)(yi)通過(guo)CAN總(zong)線去連(lian)接IO擴展(zhan)模塊，從而擴展(zhan)輸入(ru)輸出點數。博派(pai)科(ke)技ETH_GAS系列控(kong)制卡的(de)(de)應用程序(xu)可(ke)(ke)以(yi)(yi)使用VC，VB，VS，C++，C#等(deng)軟(ruan)件來開(kai)發，程序(xu)運行(xing)時需(xu)要動態(tai)庫GAS.dll。調(diao)試時可(ke)(ke)以(yi)(yi)把調(diao)試軟(ruan)件同(tong)時連(lian)接到控(kong)制器(qi)，從而方便(bian)調(diao)試和觀察。在水(shui)(shui)(shui)處理(li)和水(shui)(shui)(shui)利水(shui)(shui)(shui)電(dian)(dian)(dian)方面(mian)，電(dian)(dian)(dian)子(zi)(zi)凸輪(lun)也有其特別的(de)(de)應用價值。

運(yun)動(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)技術的(de)(de)(de)(de)發(fa)(fa)(fa)展(zhan)起源于(yu)工業后對蒸(zheng)汽機(ji)、電動(dong)(dong)機(ji)等各(ge)類機(ji)械設備(bei)進行(xing)精確控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)的(de)(de)(de)(de)想法(fa)，隨著(zhu)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)造(zao)(zao)業的(de)(de)(de)(de)不(bu)斷發(fa)(fa)(fa)展(zhan)，需要同時控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)多臺電機(ji)，進行(xing)互動(dong)(dong)式(shi)精確加(jia)工。早期(qi)運(yun)動(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)主要用(yong)于(yu)數(shu)(shu)控(kong)(kong)機(ji)床領域(yu)，對應的(de)(de)(de)(de)數(shu)(shu)控(kong)(kong)裝置(zhi)被稱(cheng)為(wei)數(shu)(shu)控(kong)(kong)系統(tong)。如(ru)今運(yun)動(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)系統(tong)已廣泛應用(yong)于(yu)裝備(bei)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)造(zao)(zao)、印刷、半導體制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)造(zao)(zao)、包(bao)裝、紡(fang)織、自動(dong)(dong)化(hua)(hua)(hua)生產(chan)線等。作(zuo)為(wei)各(ge)類設備(bei)的(de)(de)(de)(de)大(da)腦，運(yun)動(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)系統(tong)決定了設備(bei)的(de)(de)(de)(de)精度、效率(lv)，是不(bu)同品牌設備(bei)形成差(cha)異化(hua)(hua)(hua)的(de)(de)(de)(de)重要環節。2018年中國(guo)(guo)運(yun)動(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)器(qi)市場規模達(da)到73.58億(yi)元，小幅增長3.5％，未(wei)來在數(shu)(shu)控(kong)(kong)領域(yu)，在國(guo)(guo)家政策的(de)(de)(de)(de)大(da)力支持下，通過自主研(yan)發(fa)(fa)(fa)、工程化(hua)(hua)(hua)、產(chan)業化(hua)(hua)(hua)攻關，我國(guo)(guo)數(shu)(shu)控(kong)(kong)系統(tong)的(de)(de)(de)(de)開發(fa)(fa)(fa)和成果轉化(hua)(hua)(hua)能力得(de)到了提(ti)(ti)(ti)高，具有廣闊的(de)(de)(de)(de)發(fa)(fa)(fa)展(zhan)空間(jian)，預計(ji)2025年中國(guo)(guo)運(yun)動(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)器(qi)市場規模有望突(tu)破100億(yi)元。PC和手(shou)持編(bian)(bian)程器(qi)提(ti)(ti)(ti)供給用(yong)戶編(bian)(bian)程使用(yong)，為(wei)用(yong)戶提(ti)(ti)(ti)供了方便的(de)(de)(de)(de)編(bian)(bian)程界面。杭州博派運(yun)動(dong)(dong)控(kong)(kong)制(zhi)(zhi)(zhi)(zhi)(zhi)(zhi)卡(ka)開發(fa)(fa)(fa)

比(bi)如(ru)在機械加工方(fang)面，用(yong)電子凸輪來代(dai)(dai)替笨重(zhong)的機械凸輪當然是比(bi)較簡單的了。東莞(guan)正(zheng)運動(dong)運動(dong)控制卡代(dai)(dai)理

PLC的(de)(de)(de)(de)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)是指PLC系統通過(guo)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)設備(bei)的(de)(de)(de)(de)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)軸，實現精確、穩定和(he)可(ke)編程的(de)(de)(de)(de)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)功(gong)(gong)能(neng)(neng)。它可(ke)以控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)設備(bei)（如(ru)電(dian)機、伺服驅動(dong)(dong)(dong)(dong)(dong)(dong)器(qi)等）的(de)(de)(de)(de)位置、速度和(he)加速度等參(can)數(shu)(shu)，以實現所需(xu)的(de)(de)(de)(de)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)軌(gui)(gui)跡(ji)和(he)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)邏輯。選取支(zhi)持運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)的(de)(de)(de)(de)PLC時(shi)，以下是一些關鍵因素和(he)考慮事項：（1）運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)功(gong)(gong)能(neng)(neng)：確保PLC具備(bei)完善的(de)(de)(de)(de)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)功(gong)(gong)能(neng)(neng)，包括軸控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)、軌(gui)(gui)跡(ji)規劃、速度和(he)加速度控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)等。PLC應(ying)(ying)支(zhi)持多(duo)個運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)軸的(de)(de)(de)(de)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)，并能(neng)(neng)滿足(zu)(zu)具體應(ying)(ying)用(yong)的(de)(de)(de)(de)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)需(xu)求。（2）接(jie)口(kou)(kou)(kou)和(he)通信能(neng)(neng)力(li)：PLC需(xu)要提供(gong)與(yu)(yu)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)設備(bei)（如(ru)伺服驅動(dong)(dong)(dong)(dong)(dong)(dong)器(qi)、編碼(ma)(ma)器(qi)等）的(de)(de)(de)(de)接(jie)口(kou)(kou)(kou)和(he)通信能(neng)(neng)力(li)。常見的(de)(de)(de)(de)接(jie)口(kou)(kou)(kou)包括模擬量(liang)輸入(ru)/輸出、數(shu)(shu)字量(liang)輸入(ru)/輸出、編碼(ma)(ma)器(qi)反饋接(jie)口(kou)(kou)(kou)等。同時(shi)，PLC應(ying)(ying)支(zhi)持常見的(de)(de)(de)(de)通信協議，如(ru)EtherCAT、CANopen等，以便(bian)(bian)與(yu)(yu)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)設備(bei)進行(xing)數(shu)(shu)據交換和(he)協同控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)。（3）編程和(he)配(pei)置工(gong)具：PLC選型時(shi)，要考慮其編程和(he)配(pei)置工(gong)具的(de)(de)(de)(de)友(you)好性和(he)便(bian)(bian)利性。一些PLC廠商(shang)提供(gong)專門的(de)(de)(de)(de)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)編程語(yu)言或函(han)數(shu)(shu)塊，簡化了運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)程序的(de)(de)(de)(de)開發和(he)調(diao)試(shi)過(guo)程。（4）性能(neng)(neng)和(he)實時(shi)性：選擇具備(bei)足(zu)(zu)夠的(de)(de)(de)(de)性能(neng)(neng)和(he)實時(shi)性能(neng)(neng)的(de)(de)(de)(de)PLC，以滿足(zu)(zu)高速、精確的(de)(de)(de)(de)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)要求。性能(neng)(neng)指標包括掃描(miao)周期、運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)軸數(shu)(shu)量(liang)、數(shu)(shu)據處理(li)(li)能(neng)(neng)力(li)等。東莞正運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)運(yun)(yun)(yun)(yun)動(dong)(dong)(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)制(zhi)(zhi)(zhi)(zhi)卡代理(li)(li)

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