MPM-B1653C-SJ74AA

MPM-B1653C-SJ74AA

1.原程序在act_SpeedControl中已添加过MC_MoveVelocity， 在此Action中继续添加另两个速度控制功能块MCA_JogAxis及MCA_MoveVelocityContinuous，并在VISU_Speed页面添加它们的可视化。

　　注：以MCA开头的FB，均是ABB在标准PLCopen功能块基础上，二次开发的，具有PLCopen风格的功能块。

　　2.编译下载并运行程序

　　3.测试MC_MoveVelocity

　　结合Trace曲线测试。Execute置True后，会以Velocity设定的速度运行。运行过程中即便更改速度和方向，也不会生效。Execute为上升沿触发。需要MC_Stop或MC_Halt停止功能块的运行。

　　4.测试MCA_JogAxis

　　结合Trace曲线测试。JogForward和JogBackward分别对应正向和反向运行。JogForward和JogBackward为Enable型变量，True时有效。

　　需注意MinJogDistance。此变量对应启动后需运动的小距离。比如当JogForward置位True后马上复位为False，轴仍然要运动MinJogDistance设定的距离后停止。

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