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Shun Gao

Shun Gao

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Hardware Requirement

  1. RTR controller V1: Startech ST1000SPEXI Intel I210 NIC or newer PCI-e add-on card is required.

  2. RTR Runtime Controller.

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In order to address RapidPlan objects efficiently in a Profinet interface, symbolic names must be replaced by numerical values. Therefore, a lookup table is generated by Appliance and can be download from the Control Panel. Anytime a RapidPlan project is changed during runtime, or targets are updated/added/removed, the lookup table must be re-exported and PLC programs must be updated accordingly.

  • project ID: an integer generate by RapidPlan

  • robots: 0-15

  • stateful object ID: 0-31

  • robot preset ID: 0-255(0xFF) - may be the same under different robots

  • frame ID and target ID: 0-16777215(0xFFFFFF) - globally unique

  • object states ID: 0-255 - may be the same under different object ID

  • Any time a project is loaded in Control Panel, or targets are added or deleted or renamed, the user is responsible to re-download the updated ID file from CP.

  • Up to 2 external axes are supported by the PNIO data map. There’s no specific look up value for each external axis. External axis#1 is always the axis with lower actuator index number.

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  • 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.

  • The transition of InMotion status may not be available for certain moves or move segments, under the following conditions:

    • InMotion bit may not be available for queued moves due to smoothing.

    • InMotion bit may not be available for move segments if smoothing is enabled.

  • The transition of InPosition status may not be available for certain moves, under the following conditions:

    • InPosition bit may not be available for queued moves due to smoothing.

    • InPosition bit may be delayed when HoldMove or AlternateLocation is set.

Known issues

  1. Triggers are not supported as part of a move command.

  2. 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 default to restore internet access from the RTR controller.

  3. 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.

  4. The Profinet driver is tested on RTR controllers(V1 and runtime) only.

  5. DSM boxes, objects, and frames are tracked in the Profinet look up ID table. When items are created or removed, their Profinet IO mappings are handled as such, the handler retrieves the new id of the entity, and publishes it with Profinet. However, this does not cover cases where an external command source elicits a change in the DSM that’s unknown to a PLC.

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