drb-io is a software platform for Python-based control of hardware peripherals such as digital input/output and analog input.
All peripherals are immediately accessible without driver or configuration setup. The code is directly interpreted and executed by the python debugger including breakpoints and variable inspection.

All peripheral Python-modules sit on top of the respective realtime-drivers. For example the CAN FD module uses SPI1 RT-Driver to communicate to CAN controller MCP2518FD. As the modules are python coded, drb-io itself is not hard-realtime capable.



This screenshot shows the code editor on the left and the available peripherls as tabbed pane on the right. drb-io GUI
This screenshot shows CAN FD message management on the right tabbed pane. drb-io CAN FD


drb-motion is a Linux-based software platform for realtime multi-axis direct and path motion control.

Example features

  • Programming Interfaces based on PLC open motion control (see PLC open motion controll)
  • Path control of 6 axis kinematics and additional 4 axis
  • Controller based closed loop position control of 3 axis by CAN FD with 1ms cycle time and by EtherCAT with 500us cycle time

Driver interfaces

  • Modbus TCP (Beckhoff BK9050, Fast Modbus, 20ms cycle time)
  • CANopen DS402
  • EtherCAT CoE
  • Stepper (Controller based, max 2kHz stepping frequency)


drb-platform is a Linux-based software platform for realtime mobile robot control.

Example features

  • free navigation based on laserscanner distance measurement data
  • Kinematic types differential, omnidirectional and 3-wheel
  • Supports all driver interfaces of drb-motion

Scanner interfaces

  • SICK S3000
  • SICK S300
  • SICK TIM781S