Вот простейший код, который тормозит на определённых шагах:Код:PROGRAM PLC_PRG VAR targetSpeed, tmpSpeed, resultSpeed: INT (1..18); isAccStep: BOOL; delay: TON; END_VAR IF targetSpeed <> tmpSpeed THEN delay(IN := isAccStep, PT := T#1s); tmpSpeed := tmpSpeed + LIMIT(-1, targetSpeed - tmpSpeed, 1) * (BOOL_TO_INT(delay.Q) + BOOL_TO_INT(NOT isAccStep)); END_IF isAccStep := tmpSpeed = 11 OR tmpSpeed = 14 OR tmpSpeed = 17; IF targetSpeed = tmpSpeed OR isAccStep THEN resultSpeed := tmpSpeed; END_IF