感觉汇川的很好理解，特别是EtherCAT通讯，简单明了，就是容易各种小问题。
程序框架很好，一个大的           IF  AUTO_STAR  THEN
                                                           (用循环指令，比如D200) ，
                                                                     然后1：.....安全、急停
                                                                             5:...判断动作 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
                                                            (循环结束，比如D200)
                                                     END IF
条例清晰，易懂。还有FOR循环，对于比较，结构体调用，气缸多，之类的很好用。


总结：除了软件小毛病多，框架，通讯，逻辑很好写，也易懂。

汇川用ST就是浮点传浮点或长字节传长字节需要定义，不然不认识这点我觉得有点繁琐。