CODESYS Project for Controlling the AR4

Hey all - I have built 2 of the AR4 robots over the last year and have created a CODESYS PLC project that can be used to control them and I wanted to share it with you.

CODESYS is an industrial PLC platform that uses structured text as the programming language. The "PLC" in this case is a Raspberry Pi.

I am an industrial controls engineer and thought it would be nice to create a CODESYS project and share it with folks that are trying to get into controls.

I call this software ArfBotOS and it has features such as a Python based vision system, CNC, web based HMI, remote control via PS5 controller, EtherCAT communications, I/O support, text based programming from the HMI, and more.

It is still a work in progress but is considered "feature complete" at this point.

The downside is that if you want to run the software for more than 2 hours without restarting - say, in a production environment - you will need to purchase licenses from CODESYS. However, for learning this is acceptable.

Check it out and let me know if you have any questions!

Home · dalethomas81/ArfBotOS Wiki (https://github.com/dalethomas81/ArfBotOS/wiki)