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Overview

As a preliminary runtime feature, Profinet is supported in RapidPlan 2.5. Please contact Realtime Robotics for technical support.6.

Hardware Requirement

PROFINET driver requires to disable Auto-negotiation, Auto-MDI/MDI-X and to set speed & duplex rate statically.

Profinet port name should be “fieldbus“.

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

2. RTR Runtime Controller.

Profinet I/O Data Mapping

To download an offline copy of the I/O data mapping, click the icon below and save:

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https://docs.google.com/spreadsheets/d/1S-kpoKZdBv0EUbw-aKd08Up-UHsd6p-2fpDzd5Ygzuk/edit#gid=1363044768

General rules of I/O mapping

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Getting started with Profinet communication on RapidPlan

1. Ethernet interface used by Profinet must be named fieldbus.

To rename an ethernet interface(e.g., enp2s0) in Ubuntu:

sudo ip link set enp2s0 down
sudo ip link set enp2s0 name fieldbus
sudo ip link set fieldbus up

2. Environment variable must be set - this should be done automatically when a megadeb is installed.

If not done automatically:

sudo systemctl set-environment RAPIDPLAN_PROFINET_ENABLE=true

3. Profinet must be enabled from Control Panel - Settings - Network.

If the Profinet Enabled toggle is turned on, appliance must be restarted for the function to start working.

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Installation steps

1. install RapidPlan and RTR-Webapps megadebs and licenses.

2. create a new UDEV rule under /etc/udev/rules.d/, file name is 70-persistent-net.rules. Add the command line below to the file, replace ff:ff:ff:ff:ff:ff:ff with the actual mac address of the interface of the IPC.

   1. SUBSYSTEM=="net", ACTION=="add", ATTR{address}=="ff:ff:ff:ff:ff:ff", NAME="fieldbus"

3. Goto RP Control Panel and turn on profinet under settings. Upload a RP project and install it. Profinet can be enabled without a loaded project. However, in order to export ID lookup table, a project must be loaded.

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4. reboot.

5. After reboot, go to network settings of Ubuntu.

   1. The interface should be already renamed to fieldbus, but not connected(toggle is off).

   2. Assign a hard-coded IP address with network mask to the interface. The IP address should be in the same subnet as the PLC.

   3. The interface should be now connected(toggle is on).

   4. Restart appliance or reboot

6. Go to TIA portal, add a RTR controller to HW configuration. connect to the PLC IO network, set IO update time 2ms, with 64 retries.

7. Download PLC project with the new hardware configuration.

8. In the device view of TIA Portal, select the RTR controller and start profinet device name assignment process.

Profinet can be enabled without a loaded project. However, in order to export ID lookup table, a project must be loaded.

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4. If Profinet is enabled for the first time, a Profinet device name must be assigned using TIA Portal. Once assigned, the device name is persistent.5. IP address is assigned by the PLC after Profinet device name is assignedassigned using TIA Portal. Once assigned, the device name is persistent.

IP address is assigned by the PLC after Profinet device name is assigned.

Watchdog settings

To ensure low latency of RapidPlan API commands and feedback status, the number of retries in the profinet device IO settings in TIA Portal is recommended to be set to 64, while the profinet IO update time is set to 2mS. The watchdog time-out value is then 64*2mS = 128mS.

The recommended watchdog settings are based on a RTR runtime controller. The number of retries should be increased in case of frequent timeouts on slower PC’s.

Typical Move command timing sequence

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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.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 timeafter Profinet is running, issue sudo ip route del default to restore internet access from the RTR controller.

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

4. 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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The charts below measure the time delay between a move command sent by a PLC and the ACK signal received by a PLC, with PNIO update time = 2mS. As shown below, the typical latency for a profinet command to reach a RTR controller is about 9mS most of the time.

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GSD file

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