Codesys Ros2 [better] -

ROS 2 is an open-source software framework for building robot applications. It provides a set of tools and libraries for developing robot software, including device drivers, message passing, and more.

If your CODESYS runtime and ROS 2 are running on the same Industrial PC (IPC) under a Real-Time Linux kernel (like Preempt-RT). codesys ros2

A CODESYS-controlled Delta robot receives high-level coordinates from a ROS2 node running or a neural network. ROS2 identifies the object's orientation, and CODESYS executes the precise high-speed motion profile. Digital Twins and Simulation ROS 2 is an open-source software framework for

Using CODESYS to manage industrial fieldbuses (EtherCAT, PROFINET) while ROS 2 handles high-level motion planning. including device drivers

Higher overhead than shared memory, which may limit high-frequency motion control.