感覺匯川的很好理解，特別是EtherCAT通訊，簡單明了，就是容易各種小問題。
程序框架很好，一個(gè)大的           IF  AUTO_STAR  THEN
                                                           (用循環(huán)指令，比如D200) ，
                                                                     然后1：.....安全、急停
                                                                             5:...判斷動(dòng)作 100：上料；  200 ：焊接；  400：下料；
                                                                             100:.....
                                                                             110:...完成D200=0
                                                                             200:.....
                                                                             210:...完成D200=0
                                                                             400:.....
                                                                             410:...完成D200=0
                                                            (循環(huán)結(jié)束，比如D200)
                                                     END IF
條例清晰，易懂。還有FOR循環(huán)，對于比較，結(jié)構(gòu)體調(diào)用，氣缸多，之類的很好用。


總結(jié)：除了軟件小毛病多，框架，通訊，邏輯很好寫，也易懂。

匯川用ST就是浮點(diǎn)傳浮點(diǎn)或長字節(jié)傳長字節(jié)需要定義，不然不認(rèn)識這點(diǎn)我覺得有點(diǎn)繁瑣。