Application of RT-Preempt Linux and sercos III for Real-time Simulation,Thirtheenth Real-Time Linux Workshop, October 20 to 22, 2011, Prague, p. 75-80: Application of RT-Preempt Linux and sercos III for Real-time Simulation,Thirtheenth Real-Time Linux Workshop, October 20 to 22, 2011, Prague, p. 75-80
This paper presents the application of RT-Preempt Linux in a virtualcommissioning scenario. Inthis scenario, a proprietary Programmable Logic Controller (PLC) is connectedto a real-time simulationmodel. The model is located on a separate Linux personal computer whichsimulates for example thehardware of a production machine. Furthermore, the controller and thesimulation computer are con-nected through the sercos III automation bus. The simulation computer uses asercos III PCI card ascommunication hardware in combination with a user space IO (UIO) driver. Thisallows the executionof the simulation model and the sercos III driver as real-time processes onthe simulation computer. Thesercos III driver was adapted in order to imitate the bus-interface of acustom sercos III bus-coupler andto provide easy integration into the PLC engineering system. Moreover,variables in the PLC can becoupled to input and output values of the simulation model. With this virtualcommissioning method,it is possible to reduce the time to market of a machine, since writing andtesting the PLC code for thecontroller can be done in parallel to the construction of the hardware.