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DEVELOPMENTAL: This status indicates that this software is not yet production ready code. The software has some level of unit-testing. There are known issues and missing functionality. The APIs are unstable but unlikely to change drastically. Use in production systems will likely require modifications including improvements and/or bug fixes. For more information see the ROS-Industrial software status page. |
Overview
This package is part of ROS-Industrial program. It currently contains nodes for communication with PROFINET compatible devices utilizing Siemens PCI card CP1616. Both IO Controller or IO Device modes running RT protocol are supported, enabling data transmissions of 1440 input + 1440 output bytes per frame with cycle times in range of 1-10ms.
Compatibility
This package is built on top of IO Base library which is part of DK16xx- PNIO development kit provided directly by Siemens. The current version DK16xx PNIO v.2.6 is compatible only with Linux kernels <3.8 which is quite limiting for usage with latest Ubuntu distributions and requires additional instalation of older kernel, optionally with RTAI patch.
According to our conversation with Siemens, the new version of DK16xx-PNIO (2.6.2) supporting latest Linux kernels should be released in august/september 2015 and hopefully there will be no such limitation anymore. Please follow ROS-Industrial Google group to get the latest info if considering using this package.
Kernel compatibility is also the reason why is siemens_cp1616 package currently availabe only for use with Hydro distribution.
Tested configurations
Ubuntu 12.04 LTS Kernel 3.11 + Kernel 3.4.67 with RTAI4.0 Patch + DK16xxPNIO v.2.6 + ROS Hydro
Ubuntu 12.04 LTS Kernel 3.11 + Kernel 3.5.7 with RTAI4.0 Patch + DK16xx PNIO v.2.6 + ROS Hydro
Tutorials
We created set of tutorials that will walk you through using siemens_cp1616 package step by step. You can get started on Introduction to siemens_cp1616 tutorial. For complete list check out the Tutorials page.
