Codesys Ros2 🎯

A ROS2 vision node identifies items traveling down a conveyor belt, determines their exact orientation, and passes coordinates to a delta robot controlled by CODESYS SoftMotion to execute rapid picking.

CODESYS and ROS 2: The Future of Industrial Automation and Mobile Robotics

At the heart of CODESYS's motion capabilities is , a software library that extends the standard CODESYS runtime with powerful motion control functionality. It provides function blocks for managing single axes and coordinated multi-axis movements, electronic cams and gears, and CNC path interpolation. When integrated with ROS 2, a typical pattern is for an ROS 2 node to send high-level motion commands, such as a target pose for a pick-and-place operation. A CODESYS program then uses SoftMotion's multi-axis interpolation function blocks to compute the necessary joint trajectories and execute the motion with precise timing. This allows ROS 2 to focus on perception and planning while CODESYS handles real-time motion execution. codesys ros2

class Commander(Node): def (self): super(). init ('plc_commander') self.pub = self.create_publisher(Twist, '/cmd_vel', 10) timer_period = 0.05 # 50ms self.timer = self.create_timer(timer_period, self.timer_callback)

The combination of CODESYS and ROS2 is expanding across several key industrial sectors: A ROS2 vision node identifies items traveling down

Integrating with ROS 2 (Robot Operating System 2) creates a powerful "Brain-Muscle" architecture for industrial automation. While ROS 2 excels at high-level "thinking" tasks like AI-driven path planning and 3D perception, CODESYS provides the deterministic "muscle" needed for real-time hardware control and safety-critical execution. Why Pair CODESYS with ROS 2?

Many CODESYS-compatible controllers support OPC UA , which can be bridged to ROS 2 using standard nodes like ros2_opcua_gateway . When integrated with ROS 2, a typical pattern

CODESYS (Controller Development System) is unique among PLC environments because it runs on a real-time operating system (RTOS) kernel (e.g., CODESYS Control RTE on Linux) and can execute IEC 61131-3 code (Ladder Logic, Structured Text, etc.) with sub-millisecond jitter. ROS2, by contrast, prioritizes throughput and scalability over strict determinism but offers a rich ecosystem of packages.

The primary challenge is bridging the gap between the IEC 61131-3 languages used in CODESYS and the publisher/subscriber messaging model of ROS 2. Shared Memory Bridge