Beckhoff TwinCAT 3 source (IEC 61131-3) for the BMK telescope firmware.

The BMK10k is a robotic telescope dedicated to observe the Southern Plato Field (SPF) from Cerro Armazones, Chile. Its operation started in end of August, 2019. It is scheduled to observe the SPF for three years with a possible extension up to the launch of PLATO in 2026.
The BMK10k is a combination of a 30cm lens telescope Ballistische Messkammer 75/2,5/18 build by Zeiss back in 1972 with a 100Megapixel STA1600LN CCD camera resulting in a field of view of 7.25°×7.25° and a plate scale of 2.54 arcsecs per pixel. It operates on an equatorial, "German" mount.
The telescope mount was retrofitted with modern servo motors and an industrial Beckhoff programmable logic controller (PLC).
The PLC implements all the low level functionality for operation with dedicated subsystems: telescope control, environment monitoring and dome control.

This firmware is hosted on GitLab.