CODESYS SoftMotion with custom robot kinematics, controlled by Python, running on real-time Linux

Описание: Combine the best of both worlds:
use CODESYS for low-level EtherCAT and real-time MotionControl
use Python for the design of your high-level application and benefit from OpenSource

Shared memory is used to exchange variables between codesys and python in real-time
AsyncIO python application calls SoftMotion blocks on the PLC
websocket is used to send robot joints to web-based simulation
PREEMPT_RT linux system is based on PTXdist

#CODESYS #Python #EtherCAT