Tasking Model / Scheduling

In the KAS Runtime In 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 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 for more information.
• 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.
  • When the Motion Engine is not started, the rate the PLC code runs at is approximately 10 milliseconds.