The Industrial Raspberry Pi Forum

I came across CODESYS runtime for RasPi while browsing CODESYS packages and as I understand it, it turns a RasPi into a PLC so you can use IEC programming languages on it.

"The CODESYS Control SoftPLC runtime system. It converts any embedded or PC-based device into an IEC 61131-3-compliant industrial controller. "

Hi charlizesen1,
have a look at this tutorial Integrate RevPiLib into CODESYS.
Maybe this helps you with your investigations.
There is also a tutorial about CODESYS als CANopen Master