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基于IEC61131-3标准的连续定位运动模块MC_PositionProfile,可以使用户方便的定义几点,然后实现加速度平滑变化的运动。虽然其保证了加速度的平滑过渡,但没有考虑轴会发生反转,本文讨论的是在保证加速度变化平滑的基础上实现轴的单向运动。
Based on IEC61131-3 standard continuous positioning motion module MC_PositionProfile, allows users to easily define the point, and then to achieve smooth changes in the acceleration of the movement. Although it guarantees a smooth transition of acceleration, it does not consider that the shaft will be reversed. This paper discusses the one-way shaft movement under the guarantee of smooth acceleration changes.