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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，一個大的           IF  AUTO_STAR  THEN
                                                           (用循環指令，比如D200) ，
                                                                     然后1：.....安全、急停
                                                                             5:...判斷動作 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
                                                            (循環結束，比如D200)
                                                     END IF
條例清晰，易懂。還有FOR循環，對于比較，結構體調用，氣缸多，之類的很好用。


總結：除了軟件小毛病多，框架，通訊，邏輯很好寫，也易懂。

什么時候自己搞出一套軟件  硬件標準就更厲害了。