Overview

CODESYS SoftMotion Robotics provides a function block interface for motion control of robots, which is based on the PLCopen specification "Function blocks for motion control Part 4". Complex movement sequences can be composed of simple point-to-point or continuous path movements, such as straight lines or circular arcs. Configurable blending is possible between the individual movements (for example, based on distance or velocity). Velocity, acceleration, and jerk limits, both of the individual axes and on the path, are taken into account.

Trajectory planning is done online on the CODESYS controller, parallel to the execution of the movement. New movements can be added at processing time and without stopping the robot.

The scope of delivery includes kinematic models for different standard robots, from simple gantries, to delta and SCARA robots and typical six-axis industrial robots. Custom kinematic models for special machines can be linked in the form of an IEC 61131-3 function block. Similarly, dynamic models can be used via an interface to limit the occurring forces and torques and enable the torque feed forward control.

Other function blocks are used to easily implement typical use cases. This includes synchronization with moving coordinate systems, interrupting and resuming movements, or controlling high-precision digital outputs via triggers.