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.


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 and 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.


  • PC with PCI slot
  • CP1616 communication processor
  • CP 1616 Software v2.6.2

This package is built on the top of IO Base library which is part of DK16xx- PNIO development kit provided directly by Siemens. To useCP1616 with Ubuntu 14.04 LTS distribution, the latest driver v.2.6.2 is necessary. Please check Siemens support site to get the latest software.


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 a complete list, check out the Tutorials page.

Contact us/Technical support

For questions about this package or ROS-Industrial in general, please contact the developers by posting a message in the ROS-Industrial category on ROS Discourse.

Wiki: siemens_cp1616 (last edited 2018-05-27 11:24:45 by GvdHoorn)