Logik- und Bewegungssteuerung in einem einzigen IEC 61131-3-System: Baukasten zur Projektierung von Motion-Anwendungen bis hin zur CNC-Steuerung.


Logic control and motion integrated in one single IEC 61131-3 system: Development kit for everything from basic motion applications to advanced CNC 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 you can develop your motion/CNC/robot tasks without leaving your familiar logic controller development environment.

In contrast to classic motion solutions, CODESYS SoftMotion 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.

Functionality of CODESYS SoftMotion:

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

CODESYS Motion + CNC: the Basics

  • Motion programming independent of bus or drive used
  • Drivers available for numerous standard motion controllers for example for CiA DSP 402 controllers, step motors, frequency converters, virtual axes etc.
  • User-friendly bus and drives configuration directly in the PLC development system
  • Fast and resource-efficient development of simple motion programs with library POUs in the PLC application code
  • Design of CAMs in the integrated editor
  • Planning complex movements with the integrated DIN 66025 editor (G-code)
  • Development of multi-axis robot controllers by using PLCopen Motion Part 4 POUs and an easy-to-use axis group editor
  • Extensive set of library functions for example for spline calculations, geometric data manipulation (path preprocessing), look-ahead functionality, tool correction and many more
  • Integrated commissioning support with visualization templates designed to fit the library POUs
  • Extensive transformation library to support different kinematics such as Tripod (Delta and linear slide), Scara, Portal, Gantry
  • Online CAM editor and online CNC editor for the CODESYS Visualization used by the machine operator to create and edit CNC programs

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 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
  • CMZ BD
  • CMZ SD
  • Festo CMMP
  • Festo EMCA
  • Generischer CiA DS-402 (auch für 2-/3-achsige Antriebe)
  • Infranor cd1-k, XtrapulsPac
  • KEB F5
  • KEB Stepless Technology
  • Metronix ARS 2000-Serie
  • Nanotec PD4 C59
  • Schneider Electric Lexium05, Lexium23, Lexium 28, Lexium32, Lexium32i und SD-3
  • JAT Ecovario




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


  • Beckhoff EL2521, EL5101, EL72x1
  • Bonfiglioli iBMD
  • CMZ BD
  • Control Techniques Digitax, Mentor und Unidrive
  • Copley Accelnet
  • Festo CMMP EtherCAT
  • Generic CiA DSP402
  • Generic SoE driver (also for multi-axis drives)
  • Infranor XtrapulsPac
  • JAT Ecovario
  • KEB F5, H6
  • Kollmorgen AKD
  • Kollmorgen AKD Servodrive
  • Metronix ARS 2000-Serie
  • 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

How can you obtain CODESYS SoftMotion?


Screenshots CODESYS Motion+CNC

CODESYS Motion + CNC: MotionControl-Aufgaben in der gewohnten Entwicklungsoberfläche für die Logik-Steuerung umsetzen.
Ein Motion Controller mit CODESYS Motion + CNC liefert die Bewegungsfunktionalität in Form eines Baukastens im SPS-Programmiersystem.
Ressourcen-schonendes, schnelles Projektieren einfacher Bewegungsprogramme mit Bibliotheksbausteinen im SPS-Applikationscode.
Information material

CODESYS brochures and information material


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CODESYS Motion + CNC (Brochure)

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CODESYS Motion+CNC Brochure
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Logic and motion control integrated in one IEC 61131-3 system: Development kit for convenient engineering of motion, CNC and robot applications

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