得益(yi)于总(zong)线(xian)(xian)型对(dui)于脉冲(chong)型运控(kong)产(chan)品(pin)的(de)(de)(de)(de)(de)(de)(de)替代大潮，EtherCAT从(cong)自(zi)(zi)动(dong)(dong)(dong)化市场崭露头(tou)角。从(cong)性(xing)能(neng)角度来(lai)讲(jiang)，EtherCAT在众(zhong)多总(zong)线(xian)(xian)型控(kong)制(zhi)协议中脱(tuo)颖而出(chu)，主要依靠以(yi)(yi)(yi)(yi)下(xia)三点：1.EtherCAT通信(xin)速(su)度非常(chang)(chang)快(kuai)。它(ta)利用(yong)(yong)双绞线(xian)(xian)或光缆在100μs内(nei)处理30μs或100个轴上(shang)的(de)(de)(de)(de)(de)(de)(de)1000个分布式(shi)I/O信(xin)号，为实时(shi)性(xing)能(neng)设(she)(she)置(zhi)了新的(de)(de)(de)(de)(de)(de)(de)限(xian)(xian)制(zhi)。这种(zhong)高速(su)度使得EtherCAT非常(chang)(chang)适合(he)自(zi)(zi)动(dong)(dong)(dong)化，工业物(wu)联(lian)网(wang)(wang)(wang)（IIoT）以(yi)(yi)(yi)(yi)及其他需要实时(shi)优(you)化的(de)(de)(de)(de)(de)(de)(de)应用(yong)(yong)。2.这是(shi)一个较多采用(yong)(yong)的(de)(de)(de)(de)(de)(de)(de)开放标(biao)准。越(yue)来(lai)越(yue)多的(de)(de)(de)(de)(de)(de)(de)设(she)(she)备正在通过(guo)现场总(zong)线(xian)(xian)或无线(xian)(xian)连接(jie)。并(bing)且由于数据使用(yong)(yong)与(yu)以(yi)(yi)(yi)(yi)太(tai)网(wang)(wang)(wang)相同的(de)(de)(de)(de)(de)(de)(de)格式(shi)，因此可(ke)(ke)(ke)以(yi)(yi)(yi)(yi)直接(jie)连接(jie)到以(yi)(yi)(yi)(yi)太(tai)网(wang)(wang)(wang)。不需要特定的(de)(de)(de)(de)(de)(de)(de)路由器或交换机。这意味着用(yong)(yong)户可(ke)(ke)(ke)以(yi)(yi)(yi)(yi)通过(guo)效(xiao)率(lv)更高的(de)(de)(de)(de)(de)(de)(de)方式(shi)使用(yong)(yong)EtherCAT-IP在同一接(jie)口(kou)上(shang)进(jin)行多种(zhong)产(chan)品(pin)的(de)(de)(de)(de)(de)(de)(de)选择。3.它(ta)自(zi)(zi)身构建的(de)(de)(de)(de)(de)(de)(de)可(ke)(ke)(ke)持(chi)续(xu)性(xing)。使用(yong)(yong)成熟的(de)(de)(de)(de)(de)(de)(de)以(yi)(yi)(yi)(yi)太(tai)网(wang)(wang)(wang)电缆，EtherCAT通讯(xun)协议可(ke)(ke)(ke)以(yi)(yi)(yi)(yi)在较为极端(duan)的(de)(de)(de)(de)(de)(de)(de)条件下(xia)进(jin)行持(chi)续(xu)作业，比如EtherCAT端(duan)子可(ke)(ke)(ke)以(yi)(yi)(yi)(yi)在-25°C至(zhi)+60°C的(de)(de)(de)(de)(de)(de)(de)温度范围内(nei)连续(xu)工作（Trinamic的(de)(de)(de)(de)(de)(de)(de)EtherCAT运动(dong)(dong)(dong)控(kong)制(zhi)器甚至(zhi)可(ke)(ke)(ke)以(yi)(yi)(yi)(yi)满(man)足-40°C至(zhi)125°C的(de)(de)(de)(de)(de)(de)(de)汽车(che)级温度规(gui)格）。国内(nei)来(lai)说(shuo)，东莞(guan)博派(pai)智能(neng)科技有限(xian)(xian)公司(si)推(tui)出(chu)了工业用(yong)(yong)EtherCAT总(zong)线(xian)(xian)运动(dong)(dong)(dong)控(kong)制(zhi)卡，支(zhi)持(chi)2~64轴运动(dong)(dong)(dong)控(kong)制(zhi)，提供VC++/C#/LABVIEW/VB/DELPHI等动(dong)(dong)(dong)态(tai)库(ku)和例(li)程，非常(chang)(chang)方便。博派(pai)ETH_NEC运动(dong)(dong)(dong)控(kong)制(zhi)卡支(zhi)持(chi)多个并(bing)联(lian)使用(yong)(yong)，可(ke)(ke)(ke)扩展至(zhi)2000 个轴，可(ke)(ke)(ke)满(man)足所有应用(yong)(yong)场合(he)。宁波(bo)以(yi)(yi)(yi)(yi)太(tai)网(wang)(wang)(wang)运动(dong)(dong)(dong)控(kong)制(zhi)卡

1、博(bo)(bo)(bo)派(pai)ETH_GAS板(ban)(ban)卡(ka)(ka)(ka)(ka)采用(yong)24V直流电(dian)源供电(dian)。2、博(bo)(bo)(bo)派(pai)ETH_GAS板(ban)(ban)卡(ka)(ka)(ka)(ka)控(kong)(kong)(kong)制卡(ka)(ka)(ka)(ka)自(zi)身有(you)16路(lu)(lu)(lu)通(tong)用(yong)输(shu)(shu)(shu)入，采用(yong)光耦(ou)隔离(li)，抗干扰能力强。3、博(bo)(bo)(bo)派(pai)ETH_GAS板(ban)(ban)卡(ka)(ka)(ka)(ka)控(kong)(kong)(kong)制卡(ka)(ka)(ka)(ka)自(zi)身有(you)16路(lu)(lu)(lu)通(tong)用(yong)输(shu)(shu)(shu)出(chu)，可(ke)直接(jie)驱(qu)动继电(dian)器。4、博(bo)(bo)(bo)派(pai)ETH_GAS板(ban)(ban)卡(ka)(ka)(ka)(ka)控(kong)(kong)(kong)制卡(ka)(ka)(ka)(ka)支持(chi)(chi)IO扩展，可(ke)扩展至(zhi)2048输(shu)(shu)(shu)入/2048输(shu)(shu)(shu)出(chu)。可(ke)满足所(suo)有(you)应用(yong)场合。5、博(bo)(bo)(bo)派(pai)ETH_GAS板(ban)(ban)卡(ka)(ka)(ka)(ka)控(kong)(kong)(kong)制卡(ka)(ka)(ka)(ka)有(you)8路(lu)(lu)(lu)轴通(tong)道。每一(yi)路(lu)(lu)(lu)都包含脉冲、方向(xiang)、正交(jiao)编(bian)(bian)码(ma)器、Z相索引、使能、报警、复位(wei)6、博(bo)(bo)(bo)派(pai)ETH_GAS板(ban)(ban)卡(ka)(ka)(ka)(ka)控(kong)(kong)(kong)制卡(ka)(ka)(ka)(ka)有(you)8路(lu)(lu)(lu)零(ling)位(wei)输(shu)(shu)(shu)入、8路(lu)(lu)(lu)负硬(ying)限位(wei)输(shu)(shu)(shu)入、8路(lu)(lu)(lu)正硬(ying)限位(wei)输(shu)(shu)(shu)入。7、博(bo)(bo)(bo)派(pai)ETH_GAS板(ban)(ban)卡(ka)(ka)(ka)(ka)支持(chi)(chi)以太(tai)网或者串口编(bian)(bian)程。8、博(bo)(bo)(bo)派(pai)ETH_GAS板(ban)(ban)卡(ka)(ka)(ka)(ka)脉冲输(shu)(shu)(shu)出(chu)频率达2MHz9、博(bo)(bo)(bo)派(pai)ETH_GAS板(ban)(ban)卡(ka)(ka)(ka)(ka)控(kong)(kong)(kong)制卡(ka)(ka)(ka)(ka)支持(chi)(chi)多(duo)个并联(lian)使用(yong)，可(ke)扩展至(zhi)2000个轴，可(ke)满足所(suo)有(you)应用(yong)场合。10、博(bo)(bo)(bo)派(pai)ETH_GAS板(ban)(ban)卡(ka)(ka)(ka)(ka)控(kong)(kong)(kong)制卡(ka)(ka)(ka)(ka)支持(chi)(chi)点位(wei)运动、速(su)(su)度控(kong)(kong)(kong)制、直线、圆(yuan)弧(hu)、连续轨迹(ji)插补，支持(chi)(chi)速(su)(su)度前瞻(zhan)。硬(ying)件捕获、电(dian)子(zi)齿轮/电(dian)子(zi)凸轮、位(wei)置(zhi)比(bi)较(jiao)输(shu)(shu)(shu)出(chu)。支持(chi)(chi)PT模式与刀(dao)向(xiang)跟(gen)随。杭州博(bo)(bo)(bo)派(pai)运动控(kong)(kong)(kong)制卡(ka)(ka)(ka)(ka)排名(ming)博(bo)(bo)(bo)派(pai)ETH_NEC_N运动控(kong)(kong)(kong)制卡(ka)(ka)(ka)(ka)支持(chi)(chi)速(su)(su)度前瞻(zhan)。硬(ying)件捕获、电(dian)子(zi) 齿轮/电(dian)子(zi)凸轮、位(wei)置(zhi)比(bi)较(jiao)输(shu)(shu)(shu)出(chu)。支持(chi)(chi)PT和刀(dao)向(xiang)跟(gen)随。

2003年德国汉(han)诺威工业(ye)博(bo)览会，一家以(yi)做(zuo)运动控(kong)制(zhi)(zhi)器出名(ming)的(de)(de)企业(ye)展台前人头攒动，展出的(de)(de)产品是一种(zhong)全(quan)新的(de)(de)工业(ye)通讯协议。几乎整个(ge)(ge)从事自动化行业(ye)相关的(de)(de)参会者都访问过(guo)这(zhei)家的(de)(de)展位并为(wei)此感到(dao)震(zhen)惊(jing)，有(you)人直接断言(yan)这(zhei)是一种(zhong)具有(you)前瞻性的(de)(de)技术，是前沿控(kong)制(zhi)(zhi)理念的(de)(de)新生代产物。这(zhei)家公司(si)就是德国倍福自动化有(you)限公司(si)（Beckhoff），而这(zhei)个(ge)(ge)被誉为(wei)具有(you)前瞻性的(de)(de)技术叫做(zuo)EtherCAT（用(yong)于控(kong)制(zhi)(zhi)自动化技术的(de)(de)以(yi)太网）。后来的(de)(de)故事一如第一次见(jian)到(dao)EtherCAT的(de)(de)人们(men)预(yu)料的(de)(de)那样(yang)，这(zhei)种(zhong)可以(yi)称得上(shang)是“前瞻性”的(de)(de)工业(ye)通讯协议，凭(ping)借其应用(yong)的(de)(de)多样(yang)性，开放性、高效(xiao)率，在包括包装机(ji)、全(quan)钢工厂(chang)、机(ji)器人、切割系统、风(feng)洞和风(feng)能系统等(deng)(deng)应用(yong)程(cheng)序中(zhong)得以(yi)使(shi)用(yong)。国内的(de)(de)EtherCAT总线运动控(kong)制(zhi)(zhi)卡目前做(zuo)的(de)(de)比较好的(de)(de)是东莞(guan)博(bo)派智能科技有(you)限公司(si)的(de)(de)ECAT_GAS2系列，使(shi)用(yong)简单，支持VC++/C#/VB/DELPHI/QT/LINUX/LABVIEW等(deng)(deng)，普通电脑甚至笔记本都能用(yong)，非(fei)常(chang)方(fang)便。

C的(de)运(yun)动(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)是指(zhi)PLC系统通(tong)过控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)运(yun)动(dong)(dong)(dong)(dong)设(she)备(bei)(bei)的(de)运(yun)动(dong)(dong)(dong)(dong)轴(zhou)，实现(xian)精确(que)、稳定和(he)(he)(he)可(ke)编(bian)(bian)程(cheng)(cheng)(cheng)(cheng)的(de)运(yun)动(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)功能(neng)(neng)。它可(ke)以(yi)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)运(yun)动(dong)(dong)(dong)(dong)设(she)备(bei)(bei)（如电(dian)机、伺服驱动(dong)(dong)(dong)(dong)器等(deng)(deng)）的(de)位置、速度(du)和(he)(he)(he)加(jia)速度(du)等(deng)(deng)参数(shu)(shu)(shu)，以(yi)实现(xian)所需(xu)的(de)运(yun)动(dong)(dong)(dong)(dong)轨迹和(he)(he)(he)运(yun)动(dong)(dong)(dong)(dong)逻辑(ji)。选(xuan)(xuan)取支持(chi)运(yun)动(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)的(de)PLC时，以(yi)下是一(yi)些(xie)关键因素和(he)(he)(he)考虑事(shi)项：（1）运(yun)动(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)功能(neng)(neng)：确(que)保PLC具(ju)备(bei)(bei)完善的(de)运(yun)动(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)功能(neng)(neng)，包括(kuo)轴(zhou)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)、轨迹规划、速度(du)和(he)(he)(he)加(jia)速度(du)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)等(deng)(deng)。PLC应支持(chi)多个运(yun)动(dong)(dong)(dong)(dong)轴(zhou)的(de)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)，并(bing)能(neng)(neng)满(man)足具(ju)体应用的(de)运(yun)动(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)需(xu)求。（2）接(jie)口(kou)(kou)和(he)(he)(he)通(tong)信(xin)能(neng)(neng)力：PLC需(xu)要提供与(yu)运(yun)动(dong)(dong)(dong)(dong)设(she)备(bei)(bei)（如伺服驱动(dong)(dong)(dong)(dong)器、编(bian)(bian)码(ma)器等(deng)(deng)）的(de)接(jie)口(kou)(kou)和(he)(he)(he)通(tong)信(xin)能(neng)(neng)力。常见的(de)接(jie)口(kou)(kou)包括(kuo)模拟量(liang)(liang)输(shu)入/输(shu)出(chu)、数(shu)(shu)(shu)字(zi)量(liang)(liang)输(shu)入/输(shu)出(chu)、编(bian)(bian)码(ma)器反馈接(jie)口(kou)(kou)等(deng)(deng)。同时，PLC应支持(chi)常见的(de)通(tong)信(xin)协议，如EtherCAT、CANopen等(deng)(deng)，以(yi)便(bian)与(yu)运(yun)动(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)设(she)备(bei)(bei)进行数(shu)(shu)(shu)据交换和(he)(he)(he)协同控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)。（3）编(bian)(bian)程(cheng)(cheng)(cheng)(cheng)和(he)(he)(he)配置工(gong)(gong)具(ju)：PLC选(xuan)(xuan)型时，要考虑其编(bian)(bian)程(cheng)(cheng)(cheng)(cheng)和(he)(he)(he)配置工(gong)(gong)具(ju)的(de)友好性(xing)和(he)(he)(he)便(bian)利性(xing)。一(yi)些(xie)PLC厂商提供专门的(de)运(yun)动(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)编(bian)(bian)程(cheng)(cheng)(cheng)(cheng)语言或函数(shu)(shu)(shu)块，简(jian)化了运(yun)动(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)程(cheng)(cheng)(cheng)(cheng)序的(de)开发和(he)(he)(he)调试过程(cheng)(cheng)(cheng)(cheng)。（4）性(xing)能(neng)(neng)和(he)(he)(he)实时性(xing)：选(xuan)(xuan)择具(ju)备(bei)(bei)足够的(de)性(xing)能(neng)(neng)和(he)(he)(he)实时性(xing)能(neng)(neng)的(de)PLC，以(yi)满(man)足高速、精确(que)的(de)运(yun)动(dong)(dong)(dong)(dong)控(kong)(kong)(kong)(kong)(kong)(kong)制(zhi)(zhi)要求。性(xing)能(neng)(neng)指(zhi)标包括(kuo)扫描周期、运(yun)动(dong)(dong)(dong)(dong)轴(zhou)数(shu)(shu)(shu)量(liang)(liang)、数(shu)(shu)(shu)据处理能(neng)(neng)力等(deng)(deng)。在水处理和(he)(he)(he)水利水电(dian)方面，电(dian)子凸轮(lun)也有(you)其特(te)别(bie)的(de)应用价值。

我们一(yi)起看下运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)的(de)(de)(de)(de)(de)专(zhuan)业释义，运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)，MotionControl。通(tong)过对机械运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)部(bu)件(jian)的(de)(de)(de)(de)(de)位置，力矩，速度(du)(du)，加速度(du)(du)等进行实(shi)时的(de)(de)(de)(de)(de)控(kong)制(zhi)(zhi)(zhi)(zhi)管(guan)理(li)，使(shi)各(ge)个运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)部(bu)件(jian)协同(tong)的(de)(de)(de)(de)(de)按照预期的(de)(de)(de)(de)(de)运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)轨(gui)迹(ji)(ji)和(he)规(gui)定的(de)(de)(de)(de)(de)运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)参(can)数进行运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)，以达到(dao)高精度(du)(du)，低延时的(de)(de)(de)(de)(de)自(zi)动(dong)(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)的(de)(de)(de)(de)(de)目的(de)(de)(de)(de)(de)。运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)是(shi)自(zi)动(dong)(dong)(dong)(dong)(dong)(dong)化(hua)的(de)(de)(de)(de)(de)一(yi)个分支，它(ta)使(shi)用(yong)通(tong)称(cheng)为(wei)伺服机构(gou)的(de)(de)(de)(de)(de)一(yi)些设备如(ru)液压泵(beng)，线性执行机或者是(shi)电机来控(kong)制(zhi)(zhi)(zhi)(zhi)机器。运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)被应用(yong)在(zai)包(bao)装、印刷、纺织和(he)装配工(gong)业中。可以说，运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)技术是(shi)工(gong)业制(zhi)(zhi)(zhi)(zhi)造领域应用(yong)的(de)(de)(de)(de)(de)技术。博派ETH_NEC系列(lie)运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)卡支持点(dian)位和(he)连(lian)续(xu)轨(gui)迹(ji)(ji)，多(duo)轴同(tong)步，直线、圆弧、螺旋线、空(kong)间直线插(cha)补等运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)模式。杭州博派运(yun)(yun)(yun)(yun)(yun)动(dong)(dong)(dong)(dong)(dong)(dong)控(kong)制(zhi)(zhi)(zhi)(zhi)卡排名(ming)

博派智(zhi)能科技(ji)运动控(kong)制(zhi)卡开发(fa)方(fang)式(shi)支持(chi)网络式(shi)PC上位机(ji)开发(fa)C#/C++/Labview/Qt/Python/vb/.NET/Delphi/linux。宁波以(yi)太网运动控(kong)制(zhi)卡

电(dian)子齿(chi)轮模(mo)式能够(gou)将两(liang)轴(zhou)或(huo)多轴(zhou)联(lian)系起来，实现(xian)(xian)精确的(de)(de)同(tong)步运(yun)动(dong)(dong)，从而替(ti)代传统(tong)的(de)(de)机械齿(chi)轮连(lian)(lian)接(jie)。被跟(gen)随的(de)(de)轴(zhou)称(cheng)为主轴(zhou)，跟(gen)随的(de)(de)轴(zhou)为从轴(zhou)，通过将跟(gen)随轴(zhou)按照(zhao)某个比率连(lian)(lian)接(jie)到主轴(zhou)上，从而达(da)到主轴(zhou)运(yun)动(dong)(dong)时，连(lian)(lian)接(jie)的(de)(de)跟(gen)随轴(zhou)也跟(gen)随运(yun)动(dong)(dong)。同(tong)时连(lian)(lian)接(jie)的(de)(de)是脉(mai)(mai)(mai)冲(chong)(chong)个数，要考虑不同(tong)轴(zhou)UNITS的(de)(de)比例。电(dian)子齿(chi)轮作用1.脉(mai)(mai)(mai)冲(chong)(chong)补(bu)偿，减少(shao)上位(wei)机负担(因为目前用的(de)(de)发送脉(mai)(mai)(mai)冲(chong)(chong)的(de)(de)元件，都有(you)脉(mai)(mai)(mai)冲(chong)(chong)发送频率的(de)(de)限制)。2.匹(pi)配电(dian)机发出的(de)(de)脉(mai)(mai)(mai)冲(chong)(chong)数与(yu)机械小移(yi)动(dong)(dong)量(liang)，可将指(zhi)令输(shu)入1个脉(mai)(mai)(mai)冲(chong)(chong)对应的(de)(de)工件(或(huo)电(dian)机)移(yi)动(dong)(dong)量(liang)设定(ding)为任(ren)意值(zhi);可实现(xian)(xian)电(dian)机的(de)(de)无极变速，在电(dian)机启动(dong)(dong)和(he)停止时，可以(yi)防止失(shi)步和(he)过冲(chong)(chong)现(xian)(xian)象，这(zhei)样就(jiu)能充分发挥电(dian)机的(de)(de)潜(qian)能。3.传递(di)同(tong)步运(yun)动(dong)(dong)信(xin)息，实现(xian)(xian)坐(zuo)标的(de)(de)联(lian)动(dong)(dong)、运(yun)动(dong)(dong)形式之间的(de)(de)变换(旋转(zhuan)(zhuan)-旋转(zhuan)(zhuan)，旋转(zhuan)(zhuan)-直(zhi)线(xian)，直(zhi)线(xian)-直(zhi)线(xian))、简(jian)化控制等。宁波以(yi)太网(wang)运(yun)动(dong)(dong)控制卡

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