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Following tutorials are provided to demonstrate configuration and usage of ROS-PROFINET Interface:

Introduction

  1. Introduction to siemens_cp1616

    Driver installation and instuctions for basic usage of ROS-PROFINET wrappers

Interfacing S7-1200 PLC

CP1616 in IO Controller mode

CP1616 in IO Device mode

  1. CP1616 in IO Controller mode - Configuration

    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 included

  2. CP1616 in IO Controller mode - User node

    This tutorial teaches you how to write a simple ROS node for interfacing PROFINET

  3. CP1616 in IO Controller mode - Runtime

    This tutorial teaches you how to run IO Controller wrapper and check the results

  4. CP1616 in IO Controller mode - Using IRT

    This tutorial teaches you how to use isochronous real time protocol

  1. CP1616 in IO Device mode - Configuration

    This tutorial teaches you how to configure PROFINET communication with CP1616 in IO Device mode. Simple TIA Portal example project using S7-1200 PLC is included

  2. CP1616 io IO Device mode - User node

    This tutorial teaches you how to write a simple ROS node for interfacing PROFINET

  3. CP1616 in IO Device mode - Runtime

    This tutorial teaches you how to run the wrapper and check the results

  4. CP1616 in IO Device mode - Alarms

    This tutorial teaches you how to send alarm to the IO Controller

Interfacing SINAMICS S120 Drive

Servo position control using Standard Telegram 111 PZD(12/12)

  1. SINAMICS S120 - STEP7 + STARTER Configuration

    This tutorial teaches you how to configure SINAMICS S for PROFINET communication using STEP7 v.5.5 and STARTER commissioning tool

  2. SINAMICS S120 - ROS configuration

    This tutorial teaches you how to configure yaml and launch files according to your SIMATIC MANAGER HW config from previous tutorial

  3. SINAMICS S120 - User node

    This tutorial teaches you how to create a simple ROS C++ node for position control of SINAMICS S120 drive

  4. SINAMICS S120 - Runtime

    This tutorial teaches you how to run PROFINET communication and check the results

Interfacing SINAMICS G120 Drive

Induction motor speed control using Standard Telegram 1 PZD(2/2)

  1. SINAMICS G120 - TIA Portal Configuration

    This tutorial teaches you how to configure SINAMICS G120 drive to communicate with CP1616 over PROFINET

  2. SINAMICS G120 - ROS Configuration

    This tutorial teaches you how to configure yaml and launch files according to TIA Portal config from previous tutorial

  3. SINAMICS G120 - User node

    This tutorial teaches you how to write simple ROS C++ node to control the speed of SINAMICS G120 drive

  4. SINAMICS G120 - Runtime

    This tutorial teaches you how to run PROFINET communication and check the results

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2025-11-01 12:44