感覺(jué)匯川的很好理解，特別是EtherCAT通訊，簡(jiǎn)單明了，就是容易各種小問(wèn)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(duì)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(xiě)，也易懂。

通訊連接多了，掃描周期變長(zhǎng)