Struckig

Struckig is the Structured Text port of Ruckig, bringing online trajectory generation to TwinCAT 3 and other IEC 61131-3 environments.

It computes jerk-limited, acceleration-limited, and velocity-limited trajectories in real time, cycle by cycle, from your current kinematic state to a target state.

Important

Struckig ports the open-source Ruckig Community feature set. Ruckig Pro features are not part of this project.

Start Here

• New to Struckig: go to Installation and then Single Axis Trajectory.
• Learn the model first: read Concepts.
• Check applicability boundaries: Feature Scope.
• Building machine logic with state machines and segments: read Examples.
• Integrating with cyclic PLC execution: read Cycle Integration.
• Using multi-axis coordination: read Synchronized Trajectory.
• If behavior is off: check Troubleshooting.
• Common questions: FAQ.

Why Struckig

• Online trajectory generation directly in PLC code.
• Deterministic cycle-by-cycle updates based on your task cycle time.
• Same algorithmic core and terminology as Ruckig where applicable.
• Native Structured Text API with arrays and TwinCAT-friendly integration.

Licensing

Struckig is dual-licensed.

• Open-source usage is available under GPLv3.
• If your project cannot comply with GPL requirements, contact stefan@besler.me for a commercial license.