| Note: This tutorial assumes you have completed previous tutorial siemens_cp1616/Tutorials/Introduction to siemens_cp1616. |
 Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags. |
CP1616 in IO Controller mode - Configuration
Description: This tutorial teaches you how to configure PROFINET communication with CP1616 in IO Controller mode. Simple TIA Portal example project using PLC S7-1200 is includedKeywords: SIEMENS, PROFINET, CP1616
Tutorial Level: INTERMEDIATE
Next Tutorial: siemens_cp1616/Tutorials/CP1616 in IO Controller mode - User Node
TIA Portal configuration
Full archive of tutorial TIA Portal project is available here. (Please use "Project/Retrieve" option to extract the files)
Lets assume that we have successfully configured PROFINET network including S7-1200 and CP1616 in TIA Portal:
and we would like to transfer following data between IO Device (PLC) and IO Controller (CP1616):
In order to achieve that, configuration of Transfer areas needs to be passed into ROS wrapper by .yaml file first.
Yaml file
For "Transfer areas" as shown in the picture above, appropriate .yaml file will have following structure:
- label: CP_input_byte type: input size: 1 starting_address: 4116 topic: cp_input_byte_topic - label: CP_output_byte type: output size: 1 starting_address: 4120 topic: cp_output_byte_topic - label: CP_input_real type: input size: 4 starting_address: 4124 topic: cp_input_real_topic - label: CP_output_real type: output size: 4 starting_address: 4128 topic: cp_output_real_topic - label: CP_input_byte_array type: input size: 8 starting_address: 4132 topic: cp_input_byte_array_topic - label: CP_output_byte_array type: output size: 8 starting_address: 4136 topic: cp_output_byte_array_topic
Launch file
.yaml filepath needs to be uploaded on ROS Parameter server. User node can also be added to the launch file here:
<launch>
<!-- Load yaml config filepath on rosparam server -->
<param name="filepath" value="$(find siemens_cp1616_io_controller_tutorial)/config/siemens_cp1616_io_controller_tutorial_config.yaml"/>
<!-- Wrapper node -->
<node
name="siemens_cp1616_io_controller_wrapper"
pkg="siemens_cp1616"
type="io_controller_wrapper"
output="screen" />
<!-- User node -->
<node
name="siemens_cp1616_io_controller_tutorial"
pkg="siemens_cp1616_io_controller_tutorial"
type="siemens_cp1616_io_controller_tutorial_node"
output="screen" />
</launch>After completing configuration we can move to interfacing PROFINET from code and start creating simple ROS node.
Next tutorial: CP1616 in IO Controller mode - User node
