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。-IEC61131-3 standard based on the continuous positioning movement module MC-PositionProfile, allows the user to easily define points, and then change to achieve smooth acceleration of the movement. Although its acceleration to ensure a smooth transition, but did not consider the axis will be reversed, this discussion is to ensure the smooth acceleration on the basis of changes in one-way movement axis.