Chemnitz, Philipp Axel MoritzPhilipp Axel MoritzChemnitzSchorn, HendrikHendrikSchornTöreki, KolosKolosTörekiFritz, ArturArturFritz2024-10-252024-10-252024-09-10https://publica.fraunhofer.de/handle/publica/47798310.1109/ETFA61755.2024.10710873To stimulate the connection between robotics and industrial control systems, this work presents a solution for integrating Programmable Logic Controllers (PLCs) into the Robot Operating System 2 (ROS 2), based on the IEC 61499 standard. For this purpose, we have developed a framework that automatically generates all code for the PLC and ROS 2. Limitations regarding usable data types are discussed, and we demonstrate the functionality by interconnecting a robot and a PLC.enCodesService robotsOperating systemsIndustrial controlProgrammable logic devicesEcosystemsIEC StandardsStandardsManufacturing automationPLCROS 2code generationIEC 61499conference paper