CPU and RTOS PLC Programming – Learn the basics with CoDeSys

CPU and RTOS

CPU and RTOS PLC Programming – Learn the basics with CoDeSys

PLC

Input Output

CPU
Boards Boards

I O
CPU and RTOS PLC Programming – Learn the basics with CoDeSys

User Software Download

CPU
CPU and RTOS PLC Programming – Learn the basics with CoDeSys

Operating System

CPU
Operating System (OS)
CPU and RTOS PLC Programming – Learn the basics with CoDeSys

Operating System
Main Functions of an Operating System

• System’s resources management

• Device management
• Process execution and resources allocation
• User Interface (UI) Management
CPU and RTOS PLC Programming – Learn the basics with CoDeSys

Operating System
Main Functions of an Operating System

• System’s resources management

• Device management
• Process execution and resources allocation
• User Interface Management
CPU and RTOS PLC Programming – Learn the basics with CoDeSys

Operating System
Process Management in a standard PC
• Large number of tasks (e.g Task
Manager on Windows)

• «Pseudosimultaneous» execution
(Round Robin)
CPU and RTOS PLC Programming – Learn the basics with CoDeSys

Operating System
Process Management in a standard PC
• Large number of tasks (e.g Task
Manager on Windows)

• «Pseudosimultaneous» execution
(Round Robin)

• Very fast and frequent process

switches to create a
simultaneousness illusian

• Execution time is not a crucial

aspect
CPU and RTOS PLC Programming – Learn the basics with CoDeSys

Operating System

CPU REAL TIME

Within guaranteed time

Real-Time Operating System constraints
(RTOS)
CPU and RTOS PLC Programming – Learn the basics with CoDeSys

Real-Time Operating System

Funzioni principali di un Sistema Operativo

• System’s resources management

• Device management
• Process execution and resources allocation
• User Interface Management (NOT PRESENT ON PLCS)
CPU and RTOS PLC Programming – Learn the basics with CoDeSys

Real-Time Operating System

Process Management in a standard PC
• Few processes

• Static Priority Assignement

• Execution Time is a Crucial Aspect (Real Time)

CPU and RTOS PLC Programming – Learn the basics with CoDeSys

Cyclic Task Scheduling

PLCs often use a Cyclic Task Scheduling

TASK
CPU and RTOS PLC Programming – Learn the basics with CoDeSys

Cyclic Task Scheduling

PLCs often use a Cyclic Task Scheduling

Important Tasks→ High Priority→ Small Cycle Times

Less Important Tasks→ Low Priority→ Large Cycle Times

Typically, as a rule of thumb, priority should be inversely proportional with

respect to cycle time
CPU and RTOS PLC Programming – Learn the basics with CoDeSys

Cyclic Task Scheduling

Example:

TASK Priority * Cycle Time

TASK_MachineControl
TASK_ExternalDeviceCommunication
TASK_HMI
TASK_Logging

*Codesys Notation: LOW INDEX → HIGH PRIORITY

CPU and RTOS PLC Programming – Learn the basics with CoDeSys

Cyclic Task Scheduling

Example:

TASK Priority * Cycle Time

TASK_MachineControl 1
TASK_ExternalDeviceCommunication 2
TASK_HMI 3
TASK_Logging 4

*Codesys Notation: LOW INDEX → HIGH PRIORITY

CPU and RTOS PLC Programming – Learn the basics with CoDeSys

Cyclic Task Scheduling

Example:

TASK Priority * Cycle Time

TASK_MachineControl 1 1 ms
TASK_ExternalDeviceCommunication 2 10 ms
TASK_HMI 3 100 ms
TASK_Logging 4 200 ms

*Codesys Notation: LOW INDEX → HIGH PRIORITY

CPU and RTOS PLC Programming – Learn the basics with CoDeSys

Process - Task

Computational Load

Cycle Time
CPU and RTOS PLC Programming – Learn the basics with CoDeSys

Process - Task

T1 T1

T2
CPU and RTOS PLC Programming – Learn the basics with CoDeSys

Process - Task

T1 T1

T2
CPU and RTOS PLC Programming – Learn the basics with CoDeSys

Process - Task

T1 T1

T2

Missed Deadline
• In a standard PC, it may lead to a slowdown in operations
• In a PLC, it may lead to serious damage to the plant and
people
CPU and RTOS PLC Programming – Learn the basics with CoDeSys

Watchdog
Internal PLC mechanism, used to stop the CPU, whenever certain
«missed deadline» condition arise, in order to ensure the safety of the
plant.