{"id":49463046,"url":"https://github.com/stefanbesler/struckig","last_synced_at":"2026-04-30T11:01:27.848Z","repository":{"id":39112966,"uuid":"376830630","full_name":"stefanbesler/struckig","owner":"stefanbesler","description":"Full port of pantor ruckig library (Community version) to IEC 61131-3 Structured Text. Online Trajectory Generation. Real-time. Time-optimal. Jerk-constrained. 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align=\"center\"\u003e\n  \u003cimg src=\"docs/images/struckig-logo-readme.svg\" alt=\"Struckig logo\" width=\"260\"\u003e\n  \u003ch3 align=\"center\"\u003e\n    Instantaneous Motion Generation for Robots and Machines.\u003cbr\u003e\n    Port of ruckig to Structured Text, TwinCAT 3.\n  \u003c/h3\u003e\n\u003c/div\u003e\n\n\u003cp align=\"center\"\u003e\n  \u003ca href=\"https://github.com/stefanbesler/struckig/actions\"\u003e\n    \u003cimg src=\"https://github.com/stefanbesler/struckig/actions/workflows/build.yml/badge.svg\" alt=\"Build/Test\"\u003e\n  \u003c/a\u003e\n  \u003ca href=\"https://stefanbesler.github.io/struckig/Struckig/Constants.html\"\u003e\n    \u003cimg src=\"https://github.com/stefanbesler/struckig/actions/workflows/documentation.yml/badge.svg\" alt=\"Documentation\"\u003e\n  \u003c/a\u003e  \n  \u003ca href=\"https://github.com/stefanbesler/struckig/issues\"\u003e\n    \u003cimg src=\"https://img.shields.io/github/issues/stefanbesler/Struckig.svg\" alt=\"Issues\"\u003e\n  \u003c/a\u003e\n  \u003ca href=\"https://github.com/stefanbesler/struckig/releases\"\u003e\n    \u003cimg src=\"https://img.shields.io/github/v/release/stefanbesler/struckig.svg?include_prereleases\u0026sort=semver\" alt=\"Releases\"\u003e\n  \u003c/a\u003e\n  \u003ca href=\"https://www.gnu.org/licenses/gpl-3.0.en.html\"\u003e\n    \u003cimg src=\"https://img.shields.io/badge/license-GPLv3-green.svg\" alt=\"GPLv3\"\u003e\n  \u003c/a\u003e\n\u003c/p\u003e\n\n\u003cp align=\"center\"\u003e\n  \u003cstrong\u003eRead the Documentation:\u003c/strong\u003e\u003cbr\u003e\n  \u003ca href=\"https://stefanbesler.github.io/struckig/\"\u003ehttps://stefanbesler.github.io/struckig/\u003c/a\u003e\n\u003c/p\u003e\n\nStruckig ports [pantor/ruckig](https://github.com/pantor/ruckig) to Structured Text and brings open-source online trajectory generation to TwinCAT 3.\nIt targets deterministic PLC task loops and multi-axis synchronization in machine control scenarios.\n\nOnly the Community Version of Ruckig is ported and pro features are not available.\nStruckig is dual licensed:\n\n- GPLv3 for open-source usage\n- commercial custom license for closed-source usage (contact [stefan@besler.me](mailto:stefan@besler.me))\n\n## Documentation\n\n- Full docs: [stefanbesler.github.io/struckig](https://stefanbesler.github.io/struckig/)\n- Installation guide: [User guide installation](https://stefanbesler.github.io/struckig/userguide/installation.html)\n- API reference: [API Reference](https://stefanbesler.github.io/struckig/api/Struckig.html)\n\n## Installation\n\n1. Download the latest release from [Releases](https://github.com/stefanbesler/struckig/releases).\n2. Add the library to your TwinCAT project.\n3. Instantiate `Struckig.Otg` and call `otg()` once per PLC cycle.\n\nFor screenshots and TwinCAT step-by-step instructions, use the [installation docs](https://stefanbesler.github.io/struckig/userguide/installation.html).\n\n## Quick example (single axis)\n\n```st\nPROGRAM Example\nVAR\n  otg : Struckig.Otg(cycletime:=0.001, dofs:=1) := (\n    EnableAutoPropagate := TRUE,\n    Synchronization := SynchronizationType.TimeSync,\n    MinDuration := 10.0,\n    MaxVelocity := [2000.0],\n    MaxAcceleration := [20000.0],\n    MaxJerk := [800000.0],\n    CurrentPosition := [0.0],\n    CurrentVelocity := [0.0],\n    CurrentAcceleration := [0.0],\n    TargetPosition := [100.0],\n    TargetVelocity := [0.0],\n    TargetAcceleration := [0.0]\n  );\nEND_VAR\n\notg();\n```\n\nMap `otg.NewPosition`, `otg.NewVelocity`, and optionally `otg.NewAcceleration` to your axis interface each cycle.\n\n## Extra features\n\n- While the port stays close to upstream, additional behavior can be enabled via feature flags on `Otg` or globally in library parameters.\n\n| Flag | Description |\n|------|-------------|\n| `SmoothBrake` | In ruckig, reducing `MaxVelocity` below the current velocity triggers a brake ramp to `velocity = 0` before transitioning to the new limit. Enable this flag to bypass that behavior and switch to the new `MaxVelocity` immediately. |\n\n## Development\n\n- CI uses [zkbuild](https://github.com/Zeugwerk/zkbuild-action)\n- Docs generation uses [zkdoc](https://github.com/Zeugwerk/zkdoc-action)\n- Unit tests can be run with [TcUnit](http://www.tcunit.org/) via `test\\Struckig\\Struckig_unittest.sln`\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fstefanbesler%2Fstruckig","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fstefanbesler%2Fstruckig","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fstefanbesler%2Fstruckig/lists"}