Can I modify MotoRos2 to support ADS protocol to communicate directly with TwinCAT PLC

[AnthonyNguyen168]

I have a task to investigate about communication directly between Beckhoff TwinCAT PLC with YRC1000.

I did some research and found out that I can run a MotoROS2 application directly on YRC1000.

It runs directly inside the YRC1000 as a MotoPlus application (a .out binary loaded onto the controller). So in theory, can I modify this MotoROS2 application to support Beckhoff ADS? Then I can communicate directly from TwinCAT PLC to YRC1000.

[gavanderhoorn]

Every ADS (client) implementation I can quickly find is C++ (or Python, C#, a binding or some other language).

The MotoPlus SDK does not support C++, or at least not the modern C++ variants used by those libraries.

So theoretically it (ie: modifying MotoROS2) could be possible, but in practice I'm wondering whether this would be an efficient use of anyone's time -- but only you can decide that of course.

Would making use of a standard fieldbus supported by both your YRC1000 and the Beckhoff PLC not be more straightforward?