// 3. Publish Data (Every 100ms for example) // Assuming you have a timer or cyclic task set to 100ms IF bConnected THEN // Construct a simple JSON payload (String format) // In real apps, use a JSON Serialize library for robustness PublishPayload := CONCAT('"pos":', REAL_TO_STRING(rPosition)); PublishPayload := CONCAT(PublishPayload, '');

Since CODESYS has excellent native support for and MQTT , you can use these as a "handshake" protocol.

capabilities of modern robotics frameworks. This setup is increasingly popular in Industry 4.0 for building flexible, robust automation systems. Core Architecture & Communication

We evaluated the system on a dual-core x86_64 Linux with PREEMPT_RT (5.15 kernel), CODESYS Control RTE V3.5 SP19, and ROS2 Humble.

Available as an add‑on library for CODESYS V3.5 SP20+. Free for non‑commercial use (limited to 10 variables); professional license per runtime.