CODESYS Motion CNC Robotics

Logic control and motion integrated in one single IEC 61131-3 system: Development kit for everything from basic motion applications to advanced CNC and robotic controllers.

Control and Motion become one – Motion Control fully integrated in the IEC 61131-3 Development System CODESYS

From single axis movements to multi-dimensional CNC path interpolations and complex robot applications – with CODESYS Motion CNC Robotics you can develop your motion/CNC/robot tasks without leaving your familiar logic controller development environment.

In contrast to classic motion solutions, CODESYS Motion CNC Robotics provides the required motion functionality in form of a tool kit directly integrated in the PLC development system. Using this tool kit and the language scope of the IEC, you can develop solutions for the most complex motion applications.


  • Single or multi-axis movements with PLCopen motion POUs
  • Electronic CAM
  • Multidimensional CNC control
  • Multi axis robot controller with comfortable engineering

CODESYS Motion CNC Robotics: the Basics

Available Products

  • CODESYS SoftMotion: Contains the Motion Tool Kit with PLCopen POUs for master and slave movements, CAM editor and visualization templates
  • CODESYS SoftMotionCNC+Robotics: In addition to the POUs made available in CODESYS SoftMotion, CODESYS SoftMotion CNC contains POUs for CNC functionality, different kinematic transformations with the appropriate visualization templates, PLCopen Motion Part 4 and editors for 3D CNC and the robotics axis group editor.

Typical Applications

  • CNC application: CNC editor, PLCopen POUs to jog the axes, portal kinematics with step motors, teach functionality
  • Pick&Place-Applikation: PLCopen POUs to position (pick) and belt-synchronously place an object on a moving target, visualization templates to visualize the process. As an alternative: Use of the PLCopen POUs for “Coordinated Motion” (Part 4) with pre-configured robotic axis groups.
  • Tripod Robot: Parallel kinematics (transformation), visualization template for parallel kinematics, configuration of EtherCAT drives
  • Labelling / CAM Application: CAM editor, PLCopen POUs and virtual axis used as king pin, various visualization templates, CANopen servo drives, touch probe / latching functionality
  • Injection Moulding Machine: Realized with PLCopen POUs and other SoftMotion-specific functions such as on-the-fly switching from position control to torque control

Supported Drives


  • Bonfiglioli iBMD
  • Festo CMMP
  • Festo EMCA
  • Generic CiA DS-402 (also for 2-/3-axis drives)
  • Infranor cd1-k, XtrapulsPac
  • KEB F5
  • KEB Stepless Technology
  • Metronix ARS 2000 series
  • Schneider Electric Lexium05, Lexium23, Lexium 28, Lexium32, Lexium32i und SD-3
  • JAT Ecovario


  • Bosch Rexroth IndraDrive C/M/Cs/ML/Mi


  • Beckhoff EL2521, EL5101, EL7031, EL72x1, EL7041, EL7047
  • Bonfiglioli iBMD
  • Bosch Rexroth IndraDrive CoE (Start-up Documentation)
  • CMZ BD
  • Control Techniques Digitax, Mentor and Unidrive
  • Copley Accelnet
  • Delta ASDA A2, A3, B3
  • Delta R1-EC5621
  • Festo CMMP EtherCAT
  • Generic CiA DSP402
  • Generic SoE driver (also for multi-axis drives)
  • Hitachi ADV series
  • Infranor XtrapulsPac
  • JAT Ecovario
  • KEB F5, H6
  • Kollmorgen AKD
  • Kollmorgen AKD Servodrive
  • Metronix ARS 2000 series
  • Omron G5
  • Panasonic MINAS A5B
  • Panasonic MINAS A6B
  • Parker compax3, SBC, PSD
  • Sanyo Denki RS2
  • Schneider Electric Lexium32
  • Schneider Electric Lexium32i
  • Servotronix CDHD
  • Stäubli uniVAL
  • Stöber Posidrive, SD6, SI6/SC6
  • Yaskawa Sigma7 series


Screenshots CODESYS Motion CNC Robotics

CODESYS brochures and information material

Logic and motion control integrated in one IEC 61131-3 system: Development kit for convenient engineering of motion, CNC and robot applications.
Version: 10/2016
pdf 2 MB
Whitepaper CODESYS SoftMotion - Turn your PLC into a motion controller, CNC, or robot controller.
Version: 08/2021
pdf 462 KB