连续定位运动模块的改进

Improve on series position motion function block

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。

With the MC_PositionProfile motion function block, which based on the standard IEC61131-3, users can easily define several points then actualize the motion with acceleration changed smooth. This function block ensure acceleration changed smooth, but it doesn't think over that the axis may be roll back. This dissertation will discuss how to solve the problem.