AB模块1784-PKTXD

1784-PKTXD

.数组的初始化

　　在初始化Action中完成对arr_TProfile数组的初始化。在初始化程序中只初始化了5个点。为简单起见，各个点的加速度及加加速度均设置为0。

　　2.MC_VelocityProfile 功能块的编程

　　在act_SpeedControl中，添加对MC_VelocityProfile功能块的调用，同时在对应的VISU页面中，添加FB的可视化。

　　3.Trace 速度的Profile

　　程序下载后，启动功能块，同时Trace轴的速度曲线。Trace捕获的曲线与上节通过Excel生成的曲线基本一致。其主要差别在于Excel生成的曲线，各个关键点的斜率不为零，而我们通过PLC编程初始化arr_TProfile数组时，各点的斜率都是0.

　　4.基本输入参数的描述

　　结合功能块，再次介绍iType，Number_of_Pairs， TimeVelocity等输入参数的概念。

　　5.曲线对比

　　通过Trace捕获的曲线，比较了当iType分别设置成MCA_Poly5和MCA_Spline_Complete时，曲线的不同。MCA_Poly5是5次多项式曲线，曲线会严格通过几个关键点。MCA_Spline_Complete是样条曲线，其曲线比5次多项式曲线的曲率大，过渡更顺滑，严格经过关键点。

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