Tasking Model / Scheduling

In the KAS RuntimeIn computer science, runtime (or run-time) describes the operation of a computer program, the duration of its execution, from beginning to termination (compare compile time). Within KAS, runtime also refers to the virtual machine that manage the program written in a computer language while it is running, both the Motion and Programmable Logic Controller (PLC"Programmable Logic Controller" A Programmable Logic Controller, PLC, or Programmable Controller is a digital computer used for automation of industrial processes, such as control of machinery on factory assembly lines. Used to synchronize the flow of inputs from (physical) sensors and events with the flow of outputs to actuators and events) Programs are run every cycle. The cycle update time is set when configuring the EtherCAT***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs motion bus (see EtherCAT Master Settings Tab).

The cycle time becomes effective only when the Motion Engine is started (i.e. when the PLC code initializes the Motion by calling the MLMotionInit function block), and the application runs on a controller.

The time base remains much longer than the cycle time as long as the Motion Engine is not yet started, or if the application runs on the KAS Simulator (for more details, When the application runs on the KAS Simulator, the PLC execution rate is approx. 10 milliseconds. KAS Simulator cannot execute the PLC programs faster because Windows is not able to handle timing less than 10ms..). In these cases, the PLC execution rate is approx. 10 milliseconds.