Codesys Ros2 -

The open‑source project exemplifies this approach. ROBIN (ROS‑CODESYS Bridge) uses a shared memory segment to map CODESYS variables directly to ROS topics. It consists of two components:

Let’s look at a practical workflow for connecting a CODESYS-controlled robotic arm or AMR base to a ROS 2 navigation stack using an OPC UA bridge. Step 1: Configure the CODESYS OPC UA Server Open your CODESYS project. Add a object to your application tree.

: Running on Real-Time Operating Systems (RTOS), CODESYS ensures tasks complete within microsecond limits, which is vital for high-speed motion control and safety circuits.

A straightforward, low‑tech alternative is to treat ROS 2 as just another client on an industrial network. For example, CODESYS can expose data via Modbus TCP registers, and a ROS 2 node can read those registers using a Modbus client library. Similarly, if both CODESYS and ROS 2 run on the same Linux‑based industrial PC, a virtual EtherCAT master can be shared. codesys ros2

. While CODESYS excels at deterministic, real-time control (PLC), ROS 2 provides the "brains" for complex tasks like navigation, computer vision, and AI.

Here is a conceptual workflow to connect an autonomous mobile robot base controlled by CODESYS to a ROS 2 navigation stack. Step 1: The ROS 2 Side (The Planner)

project is a dedicated bridge designed specifically for ROS and CODESYS. How it works The open‑source project exemplifies this approach

Define the ROS2 topics that will receive data from the PLC (e.g., sensor data) and send commands to the PLC (e.g., motion targets). Step 3: Mapping and Data Exchange

What are you using (e.g., Beckhoff, WAGO, Siemens PLC)?

ROS 2 calculates a path that avoids a human worker who just walked into the frame. ROS 2 sends the new coordinates to Step 1: Configure the CODESYS OPC UA Server

As of 2025 (and looking beyond), several trends are accelerating this integration:

On one side, we have (Controller Development System). It is the invisible giant of industrial automation. Powering PLCs from hundreds of OEMs (including Wago, Beckhoff, Schneider Electric, and many more), CODESYS is the home of IEC 61131-3 languages (Ladder Logic, Structured Text, FBD, SFC, IL). It is deterministic, real-time, and reliable—the beating heart of factory floors, process control, and hydraulic presses.

Obtain the latest version (e.g., V3.5 SP21) 0.5.8 .