Codesys Ros2 ((new))

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Codesys Ros2 ((new))

Converting PLC data types (like REAL or INT ) into ROS2 messages ( sensor_msgs/LaserScan , etc.) requires careful serialization.

Create a Global Variable List (GVL) that will act as the data interface (e.g., RobotJoints , TargetPose ).

For applications where communication latency above 10–20 milliseconds is acceptable, internet-standard protocols are highly efficient. codesys ros2

This example shows the core action of populating a message object and publishing it, regardless of the underlying communication method.

Today, bridging these two worlds is no longer a luxury—it is a necessity. The most powerful manifestation of this integration is connecting , the leading IEC 61131-3 development environment for PLCs, with the Robot Operating System 2 (ROS2) , the gold standard for advanced robotics software. Why Connect CODESYS and ROS2? Converting PLC data types (like REAL or INT

import rclpy from rclpy.node import Node from std_msgs.msg import Float64 from asyncua import Client class CodesysBridge(Node): def __init__(self): super().__init__('codesys_bridge') self.publisher_ = self.create_publisher(Float64, 'plc_position', 10) self.timer = self.create_timer(0.05, self.timer_callback) # 20Hz loop self.client = Client("opc.tcp:// :4840") async def init_client(self): await self.client.connect() self.var = await self.client.get_node("ns=4;s=|var|CODESYS_Control.PLC_PRG.lrTargetPosition") async def timer_callback(self): val = await self.var.get_value() msg = Float64() msg.data = float(val) self.publisher_.publish(msg) def main(args=None): rclpy.init(args=args) node = CodesysBridge() # Handle async loop execution... rclpy.spin(node) rclpy.shutdown() Use code with caution. Real-World Use Cases

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. This example shows the core action of populating

Use the DDS (Data Distribution Service) backbone of ROS2 to create a unified communication layer across a factory floor.

The integration of CoDeSys and ROS 2 offers a powerful combination of industrial automation expertise and robotics flexibility. By leveraging the strengths of both technologies, developers can create sophisticated automation applications that benefit from high-performance control, scalability, and flexibility. As the industrial automation and robotics industries continue to evolve, the integration of CoDeSys and ROS 2 is poised to play a key role in shaping the future of automation and robotics development.

CODESYS publishes data to an MQTT broker; a simple ROS2 Python node subscribes to that broker and republishes the data as a ROS2 Topic.