Codesys: Ros2

Direct integration is non-trivial:

This approach requires only TCP/IP networking and no custom C++ code, making it accessible to PLC programmers who are not ROS experts.

Excels in deterministic, real-time control of I/O, safety, motion, and industrial protocols (EtherCAT, PROFINET). It is fast, robust, and reliable.

Combining them tackles a common industrial pain point: low-level hardware integration. A system can be architected where: codesys ros2

flowchart TD subgraph hardware [<b>Hardware Layer</b>] sensors[🟢 Sensors & Encoders] actuators[🔧 Actuators & Motors] fieldbus[📡 Industrial Fieldbus<br/>EtherCAT/CANopen/Profinet] end subgraph robot_ctrl [<b>Robot Controller (Industrial PC)</b>] codesys[<b>CODESYS SoftPLC (Real-time core)</b><br/>▪ EtherCAT/CANopen Master<br/>▪ Safety Logic (PLCopen)<br/>▪ Fast Motion Control loops 1-4 kHz] sm[<b>Shared Memory (ROBIN Bridge)</b><br/>▪ High-speed data exchange<br/>▪ Low-latency IPC between processes] end

Following these best practices can help avoid common pitfalls and build a robust system:

Merging traditional assembly line control (PLC) with robotic vision systems to identify and sort parts on the fly. Combining them tackles a common industrial pain point:

ROS 2 provides access to millions of lines of open-source code for complex tasks like SLAM (Simultaneous Localization and Mapping) and computer vision.

This separation of concerns leads to a more robust, maintainable, and efficient system.

// Example Data rVelocity : REAL := 0.0; rPosition : REAL := 0.0; This separation of concerns leads to a more

The primary challenge in a CODESYS ROS 2 setup is the exchange of data between the real-time PLC environment and the asynchronous ROS 2 graph. Several methods are commonly used to bridge this gap:

If you want to try this today:

3. Implementing the CODESYS ROS2 Bridge: A Step-by-Step Overview