CODESYS SoftMotion

Motion control tool for controllers with PLCopen functionality and CAMs, integrated in the IEC 61131-3 programming system CODESYS.

PLC and MotionControl integrated in one IEC 61131-3 Development System

Everything from single to multi-axis movements to CAMs can be developed together with the logic application directly in the familiar IEC 61131-3 programming environment.  A motion controller with CODESYS SoftMotion implements the motion functionality in form of a tool kit integrated in the PLC Development System.

The Runtime System CODESYS Control SoftMotion has to be implemented on a motion controller in order to be able to program it with the CODESYS SoftMotion tool kit.

Platform requirements:

  • has to be supported by CODESYS Control (recommended min. 32 bit with FPU).
  • needs sufficient performance for the calculation of the position, velocity and acceleration data.
  • needs hard real time properties with low jitter values.

When working with CODESYS SoftMotion controllers the user has many different options when it comes to implementing his motion tasks. For example, he can make use of the provided certified PLCopen motion POUs and appreciate the full functionality of the IEC 61131-3 Development System.

Here you find further information about CODESYS SoftMotion CNC+Robotics.

CODESYS SoftMotion contains

  • Certified PLCopen POUs for single and multi-axis movements
  • Certified PLCopen POUs for add-on functions like diagnostics, stop, CAM controller
  • Additional POUs for different tasks like monitoring dynamic data or following error, operating CAMs and CAM controllers
  • Visualization templates to quickly and easily commission the POUs using the CODESYS visualization 
  • Visualization elements which make it possible to change the CAMs and the CAM controllers online
  • Integrated graphical CAM editor with extensive configuration options
  • Virtual and logical axes supported
  • Integrated drivers for numerous CAN, CANopen® and EtherCAT® drives
  • Configuration of the drives as standard field devices
  • Example CODESYS SoftMotion projects

Product for device manufacturers

CODESYS SoftMotion Runtime Toolkit:
Toolkit for implementing CODESYS SoftMotion on systems with sufficient performance such as powerful embedded devices and PLCs (FPU recommended) or based on industrial PCs

Typical Applications

  • Pick&Place Application:
    Using PLCopen POUs to position (pick) and belt-synchronously place an object on a moving target, visualizing the process with the appropriate visualization templates
  • 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.

Overview of the 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


  • You are a system integrator or a user in the machine/plant construction sector or the like:
    All you need is a controller already equipped with CODESYS SoftMotion. Millions of CODESYS-compatible single devices and over 1,000 different device types from more than 400 manufacturers offer you a large selection of hardware for your automation projects.
    Or simply implement your own PC-based motion controller by installing the SoftPLC CODESYS Control RTE (under Windows) or CODESYS Control (for example under Linux®) on your IPC.
  • You are a manufacturer of programmable devices:
    Get the CODESYS Runtime Toolkit and implement your own customized motion controller with CODESYS SoftMotion. You can choose from a range of different combinations when selecting the CPU platform and the operating system for your motion control system.
  • For more information or an offer please contact our sales department under

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: 11/2020
pdf 1 MB