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A06B-0371-B010現(xiàn)貨 in stock! 歡迎來電咨詢~??！

A06B-0371-B010,

A06B-0371-B010

　機器人誕生之日起人們就不斷地嘗試著說明到底什么是機器人。但隨著機器人技術的飛速發(fā)展和信息時代的到來，機器人所涵蓋的內容越來越豐富，機器人的定義也不斷充實和創(chuàng)新。機器人技術作為20世紀人類最偉大的發(fā)明之一，自20世紀60年代初問世以來，經歷40多年的發(fā)展已取得長足的進步。隨著近年來制造業(yè)的不斷發(fā)展，工業(yè)機器人已成為智能制造和工業(yè)自動化的關鍵技術和重要產品，也是數(shù)控機床走向自動化更高階段的重要一環(huán)。

　　隨著電子控制技術的不斷發(fā)展，PLC正向高速度、容量大等物聯(lián)網及智能通信方向發(fā)展，通過物聯(lián)網，能實現(xiàn)PLC、變頻器、遠程I/O等與上位機算機進行連接，來構造出一種多級式分布系統(tǒng)。

　　1

　　舉個例子

　　三菱工業(yè)電機中的CC-Link構建的一種開放性面向現(xiàn)場控制的總線網路系統(tǒng)，DIN是德國工業(yè)標準，使用導軌是工業(yè)電氣元器件的一種安裝方式，安裝支持此標準的電器元器件可方便地卡在導軌上而無需用螺絲固定，維護也很方便，一般來說，常用的導軌寬度是3.5CM?，F(xiàn)如今，很多的電器元器件都有采用這種標準，比如有PLC、斷路器、開關、接觸器等。

　　工業(yè)機器人不是孤立工作的，一個機器人工作站，往往需要外圍設備的配合，比如工裝夾具、傳送帶、焊接變位機、移動導軌等等，這些角色相互之間要怎么配合，就需要互相協(xié)調。比如AGV小車、自動化立體倉庫、噴涂設備、裝配設備等等。

　　2

　　工業(yè)機器人的自動控制系統(tǒng)

　　1、底層控制器

　　底層控制器作為控制系統(tǒng)的核心，其選擇的合適與否對整個系統(tǒng)來說十分重要，其性能直接影響了控制系統(tǒng)的可靠性、數(shù)據(jù)處理速度、數(shù)據(jù)采集的實時性等。移動機器人運行環(huán)境較惡劣，干擾源眾多，對運動控制器的實時性和可靠性要求較高，所以選擇一種穩(wěn)定可靠地運動控制器至關重要，既要滿足系統(tǒng)要求，又要具有良好的可擴展性和兼容性。

　　為實現(xiàn)機器人對外部設備的有效控制，底層控制器提供了相應的設備底層控制函數(shù)，這些控制函數(shù)可以直接訪問機器人的硬件寄存器來控制機器人的運行，而這些控制函數(shù)可以使得設備驅動程序不再依賴于具體硬件，所以，通過調用控制函數(shù)接口就可以實現(xiàn)對機器人的有效控制。

　　2、電氣系統(tǒng)

　　在對輪式全向移動機器人控制系統(tǒng)硬件進行選型以后，根據(jù)移動機器人的硬件組成進行電氣系統(tǒng)設計。移動機器人的電氣系統(tǒng)主要包括三個部分：主電路、伺服驅動系統(tǒng)電路和PLC控制系統(tǒng)電路。

　　移動機器人控制系統(tǒng)主電路通過PLC和繼電器實現(xiàn)控制。即由繼電器由線圈和輔助觸點兩部分組成。當線圈通電的時候，其對應的常開觸點閉合，常閉觸點斷開。

　　3、I/O配置段

　　I/O配置段包括I/O刷新周期(典型為4ms)和I/O數(shù)據(jù)映像區(qū)大小信息，通過軟PLC編程系統(tǒng)的工程配置模塊進行可視化配置，以適應不同機器人應用程序對I/O設備的不同需求。其主要是機器人將其他信號作為末端執(zhí)行器I/O使用，末端執(zhí)行器I/O鏈接到機器人手臂末端的連接器上，保證其功能。

　　4、PLC程序

　　在底層控制器中，使用編程軟件STEP 7 PROFESSIONAL V12的PTO運動控制指令，使用位置控制方式，控制4個轉向伺服電機，從而控制4個車輪的轉向角；另外，使用擴展模擬量輸出模塊輸出電壓值，控制4個輪毅電機，驅動機器人運動。排除硬件的因素外，程序的好壞直接決定著運動性能的高。因此程序的編寫是整個設計中最為重要的環(huán)節(jié)之一。

　　3

　　PLC要滿足工業(yè)機器人的高性能要求還有待改善

　　機器人控制器可以理解為完成機器人控制功能的結構實現(xiàn)，因此機器人控制器是機器人最為核心的“心臟”，它從一定程度上影響著機器人的發(fā)展，高性能的工業(yè)機器人不單要實現(xiàn)PTP控制，而且還要實現(xiàn)CP控制。雖然說，采用基于PC的運動控制器和基于DSP運動控制器能夠實現(xiàn)機器人的運動控制，但是卻無法滿足高性能工業(yè)機器人的各項要求指標，而電路設計以及編程相當復雜，因此，PLC的控制接線完善和技術創(chuàng)新是一大難題。

　　PLC控制接線簡單，只要通過運動控制指令就能實現(xiàn)對機器人的運動控制，因此，PLC想要在機器人多軸運動協(xié)調控制、網絡通訊方面取得優(yōu)勢，還是需要一定的時間。因為高性能工業(yè)機器人主要是各關節(jié)的驅動運動，不單單是實現(xiàn)PTP、CP的控制，還要達到在多軸協(xié)調控制、速度、加速度、運動精度等方面的要求。

　　目前，在PLC中，日本立石公司的PLC和ABB公司的PLC在微小型控制方面功能強大；等西門子公司的PLC雖然具備運動控制的功能，但遠遠不及MITSUBISHI PLC，因為MITSUBISHI PLC結合物聯(lián)網及高科技術，使之具有完整的運動控制功能，通過高速度的背板，處理器與伺服接口模塊可以進行通訊，從而實現(xiàn)高度的集成操作及位置環(huán)和速度環(huán)的閉環(huán)控制。達到從簡單的點到點的運動到復雜的齒輪傳動，來滿足高性能工業(yè)機器人的要求。

上億庫存，國內外近千個倉庫，公司部分產品型號如下，歡迎聯(lián)系哦~！

Operator Interface 2711P-T7C6D1 PV PLUS 700, TOUCH, RIO/DH, DC PS, STD MEM

Operator Interface 2706-NE1 INVIEW P22R ENCLOSURE, NEMA 12/13

Support 9352-WGG100R SUPT REINSTATEMENT CONTRACT FOR 9352WGG100

Support 9358-PBRE01S SUPT RENEWAL CONTRACT FOR 9358PBRE01ENE

Support 9324-RLD25U7FRE RSLOGIX 5000 LITE FRENCH TO PRO UPGRADE

RSI Software Products 9324-RLDSFCE RSLOGIX 5000 SEQUENCIAL FUNCTION CHART OPTION

RSI Software Products 9301-2SE3350JPU3 RSVIEW32 RUNTIME 1500-5K UPGRADE IN-SUPT (JP)

RSI Software Products 9358-HSTS2300U1R UPGRADE: OUT-SUPT: HISTORIAN 150 TO 1500 TAG

Motion Control MPL-A4530K-SK22AA MOTOR,SERVO,8.36 NM,4000RPM,SINGL,230V,8.2KG

Motion Control 2090-XXNFMP-S05 CABLE,NON-FLEX,MOTOR FEEDBACK,MP/1326AB,5M

CBL-H1IC-15 Serial Cable, S2K, IMC & Target ARS RS-232 Communication, 15 Ft.

IC641PBE643 Alarm Master, 3.5" & 5.25" Format

IC800SLR002 Ext. Regen Resistor, 100 Ohm 225 W for 30-750W 230VAC SL Amplifiers

OIP-DSP1-C Operator Interface Panel

20B-PUB-IN1-EN PF700,F0-6 INSTALLATION PUB KIT,ENGLISH

20DD3P4A0EYNANBNE PowerFlex 700S AC Drive 20D

20SD600NEN PowerFlex 600 A SCR Bus Supply

2711P-B6M20D8 PanelView Plus 6 Graphic Terminal

280-PWRM35B-M25 ArmorConnect 3-PH Power Media trnk cable

CPM1A-MAD01 模擬量模塊2入/1出?輸入:0～10V,1～5V,4～20毫安

1492-MR5X8H1-20 Connection Products

1494V-RB2 Connecting Rod

軟啟動器 3RW44666BC35

運行版軟件 6AV2104-4HH04-0AE0 SIMATIC WinCC Runtime Advanced V14 Upgrade ： WinCC flexible 2008 Runtime 4096 PowerTags -> WinCC Runtime Advanced 4096 PowerTags V14

1585J-M4TBJM-20 RJ45 Ethernet Media

1756-OB32K ControlLogix 32 Point Digital Output

188-K1C005-N Miniature Circuit Breaker 0.5 A

194E-G3665 Abs Thermoplstc Encl 175 X 230 X 120 mm

2090-CFBM7DF-CDAF50 MP-Series 50 m Length Feedback Cable

2090-UXBB-DM15 Ultra Series Breakout Board Kit

BC646OEM0300 OEM Edge - Machine Edition Kit (Approval Required)

GC647DMC020 GC DataMart 20 Reporting Clients

IC200ALG240LT ANALOG INPUT 16 BIT VOLTAGE/CURRENT ISOLATED 8 CH (LT)

IC646IFCLNTCRO005C iFIX iClient Read Only 5 PK Keyless (M1Component Part)

IC647IFPLSR00900C iFIX Plus SCADA 900 I/O Server (M1Component Part)

IC660MLD025 Label for IC660BBD025 (Qty 100)

IC697BEM721 I/O Link Interface Module for the Series 90-70

IC800AIHV040 Alpha SVM1-40HVi Alpha HVi-series 40 amp amplifier kit

ControlLogix/1756 System

Industrial Computers

Process Control 1757-UPGSR50 UPGRADE 50PT RED SERVER

Operator Interface 2711P-B15C4D1 PV PLUS 1500, KEY/TOUCH, ENET, DC PS, STD MEM

Support 9240-DNEXPS SUPT RENEWAL CONTRACT FOR 9240DNEXP

Support 6310-DER 6310-DE SOFTWARE SUPPORT REINSTATEMENT

Support F1794-ACN15SERB FIRMWARE UPGRADE FOR 1794-ACN15 I/O MODULE

RSI Software Products 9301-2SE2350U1R UPGRADE: OUT-SUPT: RSVIEW32 WORKS 150 TO 5000

RSI Software Products 9351-AIX INTERCHANGE FOR AIX

RSI Software Products 9399-WCSUG WINTELLIGENT VISION USER'S GUIDE

Motion Control 8720MC-LR10-062B 10%,62AMP,460VAC LINE REACTOR

BC646MRD075 Logic PC Runtime (HRT) 75 I/O

IC300RCS082 8 DC Inputs (12/24vdc), 8 Positive Logic DC Outputs (5/12/24vdc, 0.5A with ESCP), 4 Analog Inputs (0-5vdc, +/-5vdc, 0-10vdc, +/-10vdc, 12 bit). 2 Analog Outputs (+/-10vdc). Built-in network interface ofr CsCAN or DeviceNet salve

IC754VBI12CTD 12" Color-TFT QuickPanel View Intermediate, Touch, 24VDC, Blank Label

MTR-3T55-H-R-B-M-0 MTR series metric servo motor with resolver and brake

20AC8P7C3AYNANC0 PowerFlex 70 AC Drive 8.7 A at 4 kW 20A

20DC030A0NYNACASE PowerFlex 700S AC Drive 20D

20G1ANC170JN0NNNNN PowerFlex 755 AC Packaged Drive

25B-E1P7N104 PowerFlex 525 0.75kW (1Hp) AC Drive

280-BRCAP-M25 Cap, Sealing for M25 Source Brake

FR-F740-1.5K 2.7KVA 3.5A 1.5KW 3相AC380V/50Hz/60Hz

1492-LG2Q IEC Term Blck 3.5x75x29.5mm Spr Clp

1494F-P2 Disconnect Switch Handle

軟啟動器 3RW44362BC34

ET 200SP 6ES7131-6TF00-0CA0 DI 8xNAMUR 高性能型，基座單元類型 A0

1585D-E4UBDE-0M3 1585D Ethernet Media Patchcord

1753-IB8XOB8 GuardPLC Digital Combo Module

1794-IB8 Flex 8 Point Digital Input Module

194E-AA32E-PE-TN 194E Load switch

2080-LC30-10QWB Micro830 10 I/O Controller

2090-CSWM1DF-14AA50 Kinetix Cable Single DSL 2090-Series

20AC3P5A3AYNACC0 PowerFlex 70 AC Drive 20A

GC646MPS010 Proficy GlobalCare Complete for Logic Developer - PLC Standard - 10 Pack

HE693PIF104 PC Interface to Series 90-30 I/O in PC104 b factor.

IC610CHS130RR Rack, 115/230Vac Power Supply (10 Slots)

IC647HSTSC5000KM Server to Server Collector for Historian - Standard Server 5,000,000 Points (M4 Key)

IC660BBA106 Block 115Vac/125Vdc Analog Current Source 6 Inputs

IC694MDL931 Output module, relay 3 amp b B and C; 8 point isolated

IC756WDN009E-22 DV Development Sys VB, Java, C++, C, English, Version 2.2

MicroLogix 1500/1769 System D1764-UM001AUSP MICROLOGIX 1500 PROG. CONTROLLER USER MANUAL

PLC-5/1771 System 1771-P4S1 POWER SUPPLY, SLOT (ONE SLOT), 8A, 100V AC

Distributed I/O 1794-NM1 PANEL MOUNTING KIT FOR FLEX I/O

Operator Interface 2711P-B6M20A PV PLUS 600 GRAYSCALE, KEY/TOUCH, ETHERNET, AC PS

Support 9323-PA2GS SUPT RENEWAL CONTRACT FOR 9323PA2G

Support 9358-PB03R SUPT REINSTATEMENT CONTRACT FOR 9358PB03ENE

Support F1772-LZPSERC FIRMWARE UPGRADE FOR 1772-LZP PLC2 PROCESSOR MODUL

RSI Software Products 9324-RLD6U7DEE RSLOGIX 5000 FULL TO PRO UPGRADE, GERMAN

RSI Software Products 9305-RSVADFCITE RSVIEW32 ACTIVE DISPLAY FLOATING CLIENT (ITALIAN)

RSI Software Products 9358-SYNSE10E SYNCHRONIZATION UTILITY (10)

Motion Control 2094-BC01-MP5 MODULE, INTEGRATED, 400/460V, 6KW CONV. 4A INV.

A06B-0153-B075#7008 A30/3000 Servo Motor, 64K Serial Encoder

IC200UDR002-24 Qty of 24, 14 point PLC, (8) 24VDC In, (6) Relay Out, 24 VDC Power Supply

IC752CBT010RR Datapanel 320T ME (Mono Expansion): 320x240 1/4 VGA Monochrome LCD with 80386SX/40 PC processor. Analog touch screen with text, bitmaps, bar graphs, real time clock. With 2M memory and PC/104 capability.

MTR-1N32-I-E-D-S-0 MTR series NEMA 34 stepping motor with series winding connection and encoder

ZA06B-0116-B175#0008 BM1/4000 servo motor with brake and 32k serial encoder

20BD481A0ANNNND0 PowerFlex 700 AC Drive 20B

20G11TF370AN0NNNNN PowerFlex 755 AC Packaged Drive

25-PM1-D017 PowerFlex 520 7.5kW (10Hp) Power Module

372SPU47701V26 Quantum Concept 2.6 應用程序下載軟件

FRN 2.2E1S-7C 4.1 KVA 11 A 2.2KW 單相AC220V/50Hz/60Hz

K8AB-PA2 三相相序、不平衡及缺相保護，額定輸入380、400、415或480VAC

1492-SPM3D010-N MCB Supplementary Protector 1 A

軟啟動器 3RW40282TB04

SIMATIC 存儲卡 6ES7 954-8LC02-0AA0 4 MB

150-SD1NUD SMC-50 SOLID STATE MOTOR CONTROLLER 361A

1738-8CFGM23 ArmorPoint 8 Point Combination Module

1783-US6T2F Stratix 2000 6+2 port unmanaged switch

193-EXP-DIO-42-120 E300 120V AC Digital Expansion Module

20-750-NEMA1-F1 PF753 & PF755 FR 1 EMC CORES W PLATE

2090-CPWM7DF-16AF03 MP-Series 3m Length Power Cable

20AB-DB1-D PowerFlex 70 Resistor Kit

GA647IFESGRNUNLMT GCA iFIX Optn: ESig & ERec Unl I/O Run

GP646IFCLNTCRO010 GCP iFIX iClient Read Only 25 PK Keyless Runtime Version

IC600BF802RR 24-48Vac/dc Input Module (8 points)

IC647HSTCC1KM Calculation Collector for Historian - Standard Server 1000 Points (M4 Key)

IC647TBLCPVC001 Virtual Campus for Proficy Troubleshooter and Cause+ - 1 User

IC693MDL753CA Conbal Coated Output module, 12/24VDC POS logic, 32 points. Interfaceis Fujitsu connector.

IC756LDV000K-912 DV Development - Inb/Linux RedHat Op Sys, Korean, Version 9.12

Pico Controllers 1760-SIM INPUT SIMULATOR FOR 12 I/O DC PICO CONTROLLER

PLC-5/1771 System 1771-OD16K CONFORMALLY COATED, 120V AC ISOLATED OUTPUT MODULE

Distributed I/O 1791-0A32 BLOCK I/O, 120V AC, 32 POINT MODULE (32 OUTPUT)

Communications 1786-RPA CONTROLNET MODULAR REPEATER ADAPTER

Operator Interface 2706-PRIOK REMOTE I/O COMMUNICATION MODULE FOR 2706-P7X & P9X

Support 9701-VWSCWAS SUPT RENEWAL CONTRACT FOR 9701VWSCWAENE

Support 9324-RL0100ESR SUPT REINSTATEMENT CONTRACT FOR 9324RL0100ES

EtherNet/IP Products 2711P-K15C4B1 PV PLUS 1500, KEYPAD, ENET, AC PS, STD MEM

RSI Software Products 9301-2SE340PTU1R RSVIEW32 RUNTIME 1500-32K UPGRADE OUT-SUPT (PT)

RSI Software Products 9356-PRO2350U6R UPGRADE: OUT-SUPT: RSSQL PROF.300 TO PROF.5000 TAG

Motion Control F-4050-Q-H04AA MOTOR/ENCODER/BRAKE

4360-N 4360 WITH NEMA 4

IC200ACC303 I/O SHORTING BAR QTY 2

IC693DNM200 DeviceNet Master

TGT-E000-0-0 Target Rack Expansion Module, 10' Rack Linker Cable

VDOCS-ADM VisualDocs Administration (includes integrated viewer)

20BD014A3AYYANC0 PowerFlex 700 AC Drive 14 A at 10 Hp 20B

20G11BF710JN0NNNNN PowerFlex 755 AC Packaged Drive

22C-B145A103 PowerFlex 400- 37 kW (50 HP) AC Drive

140XCA71709 Quantum 背板擴展電纜, 3M

285-BRC25-M10 Cable,ArmorStart Source Brake Cable

H7ET-NFV 7位液晶顯示累積計時器,電壓（24-240AC）輸入、外部/手動復位、999999.9h-3999d23.9h可切換

1492-SPM1D100-N MCB Supplementary Protector 10 A

通用型變頻器 6SE6 440-2UD25-5CA1 5.5 KW,185 x 245 x 195

電機啟動器 3VU13403NL00

150-C43NCR SMC-3 43A Smart Motor Controller

1609-SBAT Bul 1609 UPS Standard 12VDC Battery

1771-IAD 1771 16 Point Digital Input Module

193-EC2PB E3 Plus 0.4-2.0 A Overload Relay

198-MS24 Start/Stop, On/Off Push Button Kit

2090-CPBM7E7-16AF15 MP-Series 15 m Length Cable

2094-AM01-S Kinetix 6000 Axis Module

CW0DT1005 Industrial Key Board for DuraTouch, QWERTY Keyboard, Elastomer Type

GFK-0487 Series 90 PCM Development Software (PCOP) User's Manual

IC200UEX636-24 Qty of 24, 6 channel Analog expansion. (4) Analog bs & (2) Analog outputs. 120/240

IC647APXM APX:Moore APACS

IC647PFL300 Proficy Process Systems Standard Edition 3000 I/O with iFIX

IC693CHS398LT Base, Expansion, 5 Slots (LT)

IC754UEX001 VersaMax Micro Expansion I/O Interface for QP Control

MA15/D/2/SI AC15AMP PWR SRG PROTECT (240AC)

SLC/1746 System D1761-6.4 AIC + ADVANCED INTERFACE CONVERTER USER MANUAL

Distributed I/O 1734D-IB8XOW8 24 VDC 8 SINK IN 8 RELAY OUT, DNET COMMS, SCREW

Application-specific products 1803-EEM02 EEM,16 ANALOG, 4 TO 20 MA

Operator Interface 2711-T10G12 PV1000 GRAYSCALE TOUCH, PBUS & RS232 PRINT

Support 9301-2SE3500JPS SUPT RENEWAL CONTRACT FOR 93012SE3500JP

Support 9381-PEDEQPENR SUPT REINSTATEMENT CONTRACT FOR 9381PEDEQPEN

DeviceNet Products 1790D-N0C2 DNET LDX, 2 OUTPUT ANALOG CURRENT BSE,D-SHELL CONN

RSI Software Products 9301-2SE330ITU1R RSVIEW32 RUNTIME 300-1500 UPGRADE OUT-SUPT (IT)

RSI Software Products 9358-PBEPB30ENE RSBIZWARE BATCH & EPROCEDURE BNDLE PLX 30 UNITS

Motion Control MPL-B640F-MJ24AA MOTOR,SERVO,36.0NM,3000RPM,MULTI,460V,BRK

Motion Control 2090-UXLF-HV350 AC LINE FILTER,ULTRA,50 AMPS, 460V, 3 PHASE

GQSJ2D100S2P QUICKSTART KIT 5" STN GE LABEL

IC646NRV000 Report Manger Integrated Viewer

MTR-3T67-G-R-B-M-0 MTR-Series Servo Motor, Resolver, Metric, 24V Brake

ST-2124 STXi output module 4 points, TTL, 5VDC/20mA Non inverting

20BC085A0AYNANC1 PowerFlex 700 AC Drive 85 A 45 kW 20B

20F11RD5P0AA0NNNNN PowerFlex 753 AC Packaged Drive

22A-A4P5H204 PowerFlex 4 0.75 kW (1 Hp) AC Drive

990XCA65609 Quantum 熱備模塊光纖電纜

284-MTRS22-M12 ArmorConnect Shielded Motor Cable

C200H-TC103 溫度控制,鉑電阻輸入2路,電流輸出

1492-RCDA4B63S Residual Current Device 63 A

6ES7153-1AA03-0XB0 IM153-1，可帶 8 個模塊

變送器 3RS10 42-2GW70

1497-H-M4-0-N Control Circuit Transber

1606-XLE240E-3 480VAC Input 24VDC Out 10A Power Supply

1762-RTC MicroLogix 1200 Real Time Clock

188-K3D160 Miniature Circuit Breaker 16 A

194L-HE4A-325 ACTUATOR HANDLE FOR LOAD SWITCH

2090-CPBM7DF-08AA12 MP-Series 12m Power and Brake Cable

2090-XXNPMF-14S15 Kinetix Drives 15m Standard Cable

BC647TRT000 CIMPLICITY HMI Server NO LIMIT Runtime System with Proficy GlobalCare

GC647PSC050 "GlobalCare,####CIMPLICITY# Proficy##### 500# I/O"

IC200MDL930 Output relay 2.0 amps per point isolated b A, 8 points

IC646PME005 Proficy Change Management for ME 5 user pack

IC647MVD000 ME View View OPC Driver License with Hardware Key

IC684TROLI605 CIMPLICITY HMI Plant Edition Online Course -Module 5

IC697VAL308 Discontinued, future replacement is Embedded VME-6550. Contact GE IP Embedded for details.

IC800SSI407RD2RR 7.2A, 480V, DeviceNet S2K Servo Controller for MTR Series Motors

SLC/1746 System 1747-M1 EEPROM MEMORY MODULE, 1K FOR PROGRAMMABLE CTRLR

Industrial Computers 6181P-12TPXPHDC VERSAVIEW INTEGRATED DISPLAY COMPUTER 12-INCH

Application-specific products 9358-PBBK60ENE RSBIZWARE BATCH FOR PLX BACK-UP KEY 60 UNITS

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