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Based on community experience and existing projects, here's a practical guide to implementing a CODESYS and ROS 2 integration.
CoDeSys is a software tool developed by 3S - Smart Software Solutions GmbH, a leading provider of automation software. It allows users to design, test, and deploy control applications for various industrial automation controllers, including programmable logic controllers (PLCs), industrial PCs, and other embedded systems. CoDeSys supports multiple programming languages, including IEC 61131-3 languages (e.g., Ladder Logic, Function Block Diagram, and Structured Text).
Vendor-neutral, built-in security, and widely supported. codesys ros2
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 provides a . Inside your CODESYS project, you instantiate a "ROS 2 Node" function block. Based on community experience and existing projects, here's
// 3. Publish Data (Every 100ms for example) // Assuming you have a timer or cyclic task set to 100ms IF bConnected THEN // Construct a simple JSON payload (String format) // In real apps, use a JSON Serialize library for robustness PublishPayload := CONCAT('"pos":', REAL_TO_STRING(rPosition)); PublishPayload := CONCAT(PublishPayload, '');
is arguably the most robust, open-source solution. Developed in an academic context and applied in industrial projects, ROBIN is an open-source middleware designed specifically for the purpose. It provides function blocks for managing single axes
We will implement a model using MQTT.
Integrating with ROS 2 (Robot Operating System 2) represents a powerful convergence of high-speed industrial control and advanced robotic intelligence. While CODESYS provides the deterministic real-time execution required for hardware safety and motion control, ROS 2 offers a vast ecosystem of open-source algorithms for navigation, vision processing, and fleet management. Why Combine CODESYS and ROS 2?
In Industry 4.0, production lines must reconfigure on the fly. ROS 2 can act as the fleet orchestrator or high-level cell manager, communicating via a standardized interface with multiple independent CODESYS-driven machines to dynamically coordinate tasks without hard-wiring I/O between them. Overcoming Challenges in Integration
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