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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

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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
  • CMZ® BD, SD, LBD
  • Festo® EMCA, CMMP
  • Generic CiA® 402 driver (also for multi-axis drives)
  • Infranor® cd1-k, XtrapulsPac
  • KEB® F5, Stepless Technology
  • Metronix® ARS 2000 series
  • Nanotec® PD4C
  • Schneider Electric™ Lexium05, Lexium23, Lexium28, Lexium32, Lexium32i and SD-3


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


  • Beckhoff® EL2521, EL5101, EL72x1, EL703x, EL704x
  • Bonfiglioli iBMD
  • Bosch Rexroth® ctrlX Drive CoE
  • Bosch Rexroth® IndraDrive CoE (Start-up Documentation)
  • Control Techniques™ Digitax, Mentor and Unidrive
  • Copley® Accelnet
  • Delta® ASDA A2, A3, B3
  • Delta R1-EC5621
  • Festo CMMP EtherCAT
  • Generic CiA 402 driver (also for multi-axis drives)
  • Generic SoE driver (also for multi-axis drives)
  • Hitachi® ADV series
  • Infranor XtrapulsPac
  • KEB F5, H6
  • KEBA® KeDrive D3
  • Kollmorgen AKD®, AKD Servodrive, AKD-N/C, MKD-N/C, AKD2G
  • Metronix ARS 2000 series
  • Omron® G5
  • Nidec® Unidrive M
  • Panasonic® MINAS A5B, A6B
  • Parker® compax3, SBC, PSD
  • Sanyo Denki® RS2
  • Schneider Electric Lexium32, Lexium32i
  • Servotronix® CDHD
  • Stäubli® uniVAL
  • Stöber POSIDRIVE®, SD6, SI6/SC6
  • WEG SCA06
  • 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 or CODESYS SoftMotion CNC+Robotics. Millions of CODESYS-compatible single devices and over 1,000 different device types from more than 500 manufacturers offer you a large range of hardware for your automation projects. CODESYS Inside offers a selection of manufacturers that offer CODESYS-compatible devices. Or simply implement your own PC-based motion controller by installing the SoftPLC CODESYS Control RTE (under Microsoft Windows) or CODESYS Control (e.g. under Linux®).
  • You are a manufacturer of programmable devices: 
    Get the CODESYS Runtime Toolkit and implement your own customized motion control system with CODESYS SoftMotion or CODESYS SoftMotion CNC+Robotics. CODESYS SoftMotion supports the most different CPUs and operating systems.


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.

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

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SoftMotion CNC+Robotics

3D-CNC motion control for motion controllers with complete 3D-CNC and robot functionality, including an interpolator and kinematic transformations, integrated in the IEC 61131-3 programming system.

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