The Modbus RTPS seems published by IEC from 2004. However, it seems unpopular in the market. I can find the RTPS protocol specification. However, I still do not know how to combine the Modbus protocol with RTPS protocol. Does anyone have experience with this?

 

RTPS is part of the now aging iDA protocol that can still be downloaded from the Modbus-iDA website:
http://www2.modbus-ida.org/idagroup/service/download/IDA-Spec-V11.pdf

iDA was supposed to be the future for Modbus/TCP for application to motion control. It just does not seem to be going anywhere.

Technically, iDA and RTPS is excellent work.

 

Just ran across this.

The RTPS protocol was migrated to the OMG standards organization in 2005. It is now called DDSI-RTPS, and is part of the thriving DDS specification with 12+ implementations and a growing impact on the Industrial Internet of Things. The Modbus RTPS name is obsolete.

Stan