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5. IP address is assigned by the PLC after Profinet device name is assigned.
Typical Move command timing sequence
Move
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Combined Move
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Programming Notes
A Siemens PLC library and an application example is available upon request.
To reset fault mode, the OperationMode output needs to be manually reset, before the reset output is set.
Some API commands only work in Config mode, while others only work in Operation mode. Mode interlock logic is recommended.RTR library UDT type udtOutputRobotSetpoints is being shared by multiple API commands. The instances of each API command must have exclusive control over the udtOutputRobotSetpoints outputs for a given robot.
Known issues
Triggers are not supported as part of a move command.
When appliance restarts, the Ubuntu OS routing table is added with a duplicate default gateway pointing to the IP address assigned by the PLC. This is causing loss of internet access until the duplicate default gateway in the Ubuntu routing table is manually cleared. This is related to Ubuntu OS. Workaround: after Profinet is running, issue
sudo ip route del defaultto restore internet access from the RTR controller.Occasionally the PLC triggers a Profinet watchdog error. This is due to the Ubuntu Desktop OS is not optimized for real-time communication. OS thread priority should be fine tuned. Workaround: increase the number of retries in the Profinet device IO settings in TIA Portal, while keeping the same 2mS update time.
The Profinet driver is tested on RTR controllers(V1 and runtime) only.
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