Tasking Model / Scheduling

In the KAS Runtime, both the Motion and Programmable Logic Controller (PLC) Programs are run every cycle.

• The cycle time is set when configuring the EtherCAT 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.
  • When the Motion Engine is not started, the rate the PLC code runs at is approximately 10 milliseconds.