Codesys Ros2 Jun 2026

| Feature | Handled by CODESYS (PLC side) | Handled by ROS 2 (Edge/PC side) | | :--- | :--- | :--- | | | Servo drives, hydraulic valves, temperature loops (<1ms) | High-level trajectory following (>10ms) | | Safety | Safety-rated PLC (ISO 13849) | Monitoring, but not SIL-rated logic | | I/O Handling | 24V digital, 4-20mA analog, EtherCAT slaves | Cameras, LiDARs, 3D sensors, microphones | | Algorithms | PID, motion control (CNC/Robotics) | SLAM, A*, MoveIt motion planning, YOLO vision | | Communication | Modbus TCP, Profinet, OPC UA | DDS (Fast-DDS, CycloneDDS), MQTT, WebSockets | | Deployment | Flash to non-volatile PLC memory | Docker containers, Kubernetes, snap packages |

, the open-source framework used by researchers and tech giants to build autonomous mobile robots (AMRs) and smart manipurers. codesys ros2

PLC-centric (CODESYS master)