This thesis project, “VIRTUAL SIMULATION of GANTRY ROBOT for PICK and PLACE OPERATION” focuses on simulating a Gantry robot utilizing CODESYS as a framework for PLC programming and a simulator. Development and optimization of the control logic for pick-and-place operations on the Gantry robot in an industrial scenario are the main goals.The setup of the CODESYS development environment and the project's configuration for Gantry robot simulation are the first steps in the project. The project defines the joint types, motion ranges, and extra sensors or actuators for the Gantry robot, as well as its dynamics and shape.Utilizing the motion control libraries and algorithms from CODESYS, motion control features are created. The trajectory planning, velocity control, and accurate position control are all part of the control logic for effective pick and place operations.The development of a graphical user interface (HMI) for real-time monitoring and communication with the simulated Gantry robot is made possible by the visualization capabilities in CODESYS. For a complete user experience, the HMI offers visual feedback, status indications, and control components.The project's capacity to model and improve the control logic of the Gantry robot before actual implementation is demonstrated in the thesis paper, which emphasizes the project's relevance. It highlights the possible advantages in terms of industrial materials handling efficiency, precision, and dependability. In order to increase the functionality of the simulated Gantry robot, the project suggests additional improvements, such as object identification, collision avoidance, or interaction with external systems.