diff --git a/Rs.Motion/Base/IIOCard.cs b/Rs.Motion/Base/IIOCard.cs
index 3830352..e569b43 100644
--- a/Rs.Motion/Base/IIOCard.cs
+++ b/Rs.Motion/Base/IIOCard.cs
@@ -27,7 +27,7 @@ namespace Rs.Motion.Base
         /// </summary>
         public bool IsEtherCat { get; set; } = true;
 
-        public virtual void Init(ushort inCount, ushort outCount, ushort slaveNo)
+        public virtual void Init(short cardID,ushort inCount, ushort outCount, ushort slaveNo)
         {
 
         }
diff --git a/Rs.Motion/GugaoEcat/ECatIOCard.cs b/Rs.Motion/GugaoEcat/ECatIOCard.cs
index ae667a9..f7c02de 100644
--- a/Rs.Motion/GugaoEcat/ECatIOCard.cs
+++ b/Rs.Motion/GugaoEcat/ECatIOCard.cs
@@ -21,12 +21,13 @@ namespace Rs.Motion.GugaoEcat
 
         }
 
-        public override void Init(ushort inCount, ushort outCount, ushort slaveNo)
+        public override void Init(short cardID,ushort inCount, ushort outCount, ushort slaveNo)
         {
             ushort i = 0;
             for (; i < outCount; i++)
             {
                 ECatIO io = new ECatIO();
+                io.CardID= cardID;
                 io.SlaveNo = slaveNo;
                 io.Offset = 0;
                 io.Index = i;
@@ -36,6 +37,7 @@ namespace Rs.Motion.GugaoEcat
             for (; i < outCount + inCount; i++)
             {
                 ECatIO io = new ECatIO();
+                io.CardID = cardID;
                 io.SlaveNo = slaveNo;
                 io.Offset = 0;
                 io.Index = i;
diff --git a/Rs.Motion/GugaoEcat/GugaoCardManager.cs b/Rs.Motion/GugaoEcat/GugaoCardManager.cs
index 3d805e6..9e08a18 100644
--- a/Rs.Motion/GugaoEcat/GugaoCardManager.cs
+++ b/Rs.Motion/GugaoEcat/GugaoCardManager.cs
@@ -51,7 +51,7 @@ namespace Rs.Motion.GugaoEcat
                 ioCard.Name = name;
                 ioCard.Vender = vender;
                 ioCard.IsEtherCat = isEthercat;
-                ioCard.Init(inNum, outNum, (ushort)slaveID);
+                ioCard.Init((short)cardID,inNum, outNum, (ushort)slaveID);
                 bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, ioCard);
             }
             else
diff --git a/Rs.Motion/GugaoPulse/GLinkIOCard.cs b/Rs.Motion/GugaoPulse/GLinkIOCard.cs
index e3abbe3..a52934b 100644
--- a/Rs.Motion/GugaoPulse/GLinkIOCard.cs
+++ b/Rs.Motion/GugaoPulse/GLinkIOCard.cs
@@ -14,11 +14,12 @@ namespace Rs.Motion.GugaoPulse
     [XmlInclude(typeof(GLinkIO))]
     public class GLinkIOCard : IIOCard
     {
-        public override void Init(ushort inCount, ushort outCount, ushort slaveNo)
+        public override void Init(short cardID,ushort inCount, ushort outCount, ushort slaveNo)
         {
             for (ushort i = 0; i < outCount; i++)
             {
                 GLinkIO io = new GLinkIO();
+                io.CardID = cardID;
                 io.CardID = (short)CardID;
                 io.Name = "Out" + i + "_" + slaveNo;
                 io.Index = i;
@@ -27,6 +28,7 @@ namespace Rs.Motion.GugaoPulse
             for (ushort i = 0; i < inCount; i++)
             {
                 GLinkIO io = new GLinkIO();
+                io.CardID = cardID;
                 io.Card = this;
                 io.Name = "In" + i + "_" + slaveNo;
                 io.Index = i;
diff --git a/Rs.Motion/GugaoPulse/GugaoPulseCardManager.cs b/Rs.Motion/GugaoPulse/GugaoPulseCardManager.cs
index bc8320a..74cbea1 100644
--- a/Rs.Motion/GugaoPulse/GugaoPulseCardManager.cs
+++ b/Rs.Motion/GugaoPulse/GugaoPulseCardManager.cs
@@ -57,7 +57,7 @@ namespace Rs.Motion.GugaoPulse
                 ioCard.Name = name;
                 ioCard.Vender = vender;
                 ioCard.IsEtherCat = isEthercat;
-                ioCard.Init(inNum, outNum, (ushort)slaveID);
+                ioCard.Init((short)cardID,inNum, outNum, (ushort)slaveID);
                 bool suc = XmlSerializerHelper.Instance.Serialize<GLinkIOCard>(filename, ioCard);
             }
             else
@@ -78,13 +78,16 @@ namespace Rs.Motion.GugaoPulse
         public override ErrorCode Init()
         {
             SqliteHelper db = new SqliteHelper();
-            DataTable dt = db.GetDataTable("select * from motioncard where vender='gugao' order by id dec");
+            DataTable dt = db.GetDataTable("select * from motioncard where vender='gugao' order by id desc");
             if(dt!=null&&dt.Rows.Count>0)
             {
                 foreach (DataRow row in dt.Rows)
                 {
+                    ICard card = new GugaoPulseCard(ushort.Parse(row["cardid"].ToString()), 8, $"gugaopulse{row["cardid"]}.xml");
+                    card.Init();
+                    cardDic.Add(ushort.Parse(row["cardid"].ToString()), card);
                     //打开运动控制卡
-                    apiResult = mc_pulse.GT_Open((short)row["cardid"], 0, 1);
+                    apiResult = mc_pulse.GT_Open(short.Parse(row["cardid"].ToString()), 0, 1);
                     if (apiResult != 0)
                     {
                         return ErrorCode.CardInitFail;
@@ -95,9 +98,7 @@ namespace Rs.Motion.GugaoPulse
                     {
                         return ErrorCode.Fail;
                     }
-                    ICard card = new GugaoPulseCard((ushort)row["cardid"], 8, $"gugao{row["cardid"]}.xml");
-                    card.Init();
-                    cardDic.Add((ushort)row["cardid"], card);
+                   
                 }
             }
             IsInitialized = true;
diff --git a/Rs.Motion/IoManager.cs b/Rs.Motion/IoManager.cs
index 5a70ac0..e71ec3c 100644
--- a/Rs.Motion/IoManager.cs
+++ b/Rs.Motion/IoManager.cs
@@ -112,6 +112,8 @@ namespace Rs.Motion
             foreach (IIO eCatIO in card.DIn)
             {
                 eCatIO.Card = card;
+                if (ioDic.ContainsKey(eCatIO.Name))
+                    continue;
                 ioDic.Add(eCatIO.Name, eCatIO);
             }
         }
diff --git a/Rs.Motion/Ztm/ZtmCardManager.cs b/Rs.Motion/Ztm/ZtmCardManager.cs
index dec03c0..9e8b6f5 100644
--- a/Rs.Motion/Ztm/ZtmCardManager.cs
+++ b/Rs.Motion/Ztm/ZtmCardManager.cs
@@ -52,26 +52,24 @@ namespace Rs.Motion.GugaoEcat
         public override IIOCard AddIoCard(int cardID,string name,string vender,bool isEthercat,ushort inNum,ushort outNum,int slaveID)
         {
             ZtmIOCard ioCard = new ZtmIOCard();
+            string filename = $"config/motion/io/ztm{cardID}.xml";
+            if (!File.Exists(filename))
+            {
+                ioCard.CardID = (ushort)cardID;
+                //ioCard.MC = mcDic[(short)cardID];
+                ioCard.Name = name;
+                ioCard.Vender = vender;
+                ioCard.IsEtherCat = isEthercat;
+                ioCard.Init((short)cardID, inNum, outNum, (ushort)slaveID);
+                bool suc = XmlSerializerHelper.Instance.Serialize<ZtmIOCard>(filename, ioCard);
+            }
+            else
+                XmlSerializerHelper.Instance.Deserialize<ZtmIOCard>(filename, out ioCard);
             if (mcDic.ContainsKey((short)cardID))
             {
-                string filename = $"config/motion/io/ztm{cardID}.xml";
-                if (!File.Exists(filename))
-                {
-                    ioCard.MC = mcDic[(short)cardID];
-                    ioCard.Name = name;
-                    ioCard.Vender = vender;
-                    ioCard.IsEtherCat = isEthercat;
-                    ioCard.Init(inNum, outNum, (ushort)slaveID);
-                    bool suc = XmlSerializerHelper.Instance.Serialize<ZtmIOCard>(filename, ioCard);
-                }
-                else
-                    XmlSerializerHelper.Instance.Deserialize<ZtmIOCard>(filename, out ioCard);
                 if (ioCard != null)
                 {
                     ioCard.SetMc(mcDic[(short)cardID]);
-                    //ztmIOCard.SetMc(0);
-                    //ioCards.Add(ztmIOCard);
-                    //Add(ztmIOCard);
                 }
             }
             return ioCard;
diff --git a/Rs.Motion/Ztm/ZtmIOCard.cs b/Rs.Motion/Ztm/ZtmIOCard.cs
index 26f2ad0..4d5b655 100644
--- a/Rs.Motion/Ztm/ZtmIOCard.cs
+++ b/Rs.Motion/Ztm/ZtmIOCard.cs
@@ -41,12 +41,13 @@ namespace Rs.Motion.Ztm
                 ((ZtmIO)iO).mc = MC;
             }
         }
-        public override void Init(ushort inCount, ushort outCount, ushort slaveNo)
+        public override void Init(short cardID,ushort inCount, ushort outCount, ushort slaveNo)
         {
             for (ushort i = 0; i < outCount; i++)
             {
                 ZtmIO io = new ZtmIO();
-                io.Name = $"Ztm{MC}_Out" + i;
+                io.CardID = cardID;
+                io.Name = $"Ztm{cardID}_Out" + i;
                 io.Index = i;
                 io.SlaveNo = (ushort)slaveNo;
                 DOut.Add(io);
@@ -54,7 +55,8 @@ namespace Rs.Motion.Ztm
             for (ushort i = 0; i < inCount; i++)
             {
                 ZtmIO io = new ZtmIO();
-                io.Name = $"Ztm{MC}_In" + i;
+                io.CardID = cardID;
+                io.Name = $"Ztm{cardID}_In" + i;
                 io.Index = i;
                 io.SlaveNo = (ushort)slaveNo;
                 DIn.Add(io);