I've encountered many manufacturers who claim they have a product similar to Beckhoff's, and many engineers who say Beckhoff products are expensive and it's better to use CodeSys since there are many controller manufacturers supporting it.
However, whether it's an OEM choosing a controller or an engineer selecting a learning path, I always recommend choosing Beckhoff. In terms of processor capability and development language, the difference between CodeSys and TwinCAT isn't significant, and switching between them is relatively easy.
As for differences in libraries, computational capabilities, etc., it's best for friends who have used them to compare, as every company's projects have different requirements and evaluation criteria.
My advice is to choose Beckhoff, as it brings you closer to excellence and offers more flexibility for projects. For engineers, since switching between the two is convenient, opting for a system with more maneuverability will be more advantageous in the future.
On one hand, Beckhoff's products aren't limited to TwinCAT; it's a complete software and hardware system that provides an excellent platform for the automation field. Technologies like XFC, which provides precise data between PLC cycles, and electromechanical products like XTS, are integrated into the TwinCAT ecosystem.
On the other hand, most other CodeSys-based products use the Linux operating system to reduce costs, missing out on the convenience of Windows.
Some may argue that using it as a PLC is sufficient, but if you look at Beckhoff's "PC-Control" magazine, you'll find that leading global equipment companies fully utilize the technological advantages of Windows. They either create superior human-machine interfaces or carry out more comprehensive digitization to accomplish more tasks.
Choosing a broader platform is the foundation for an excellent future. When someone says "this is enough," they likely haven't seen better products. Similarly, when international top equipment suppliers sell their equipment at prices several times higher than domestic products, most people only see the procurement cost, not the profit increase these top equipment suppliers bring to their customers.
Change your perspective. Instead of focusing on what software to use, consider how to build a "dream machine," and you'll eventually realize that choosing Beckhoff brings more benefits.