Abstract: A runtime system of an industrial controller has a running level model which has a plurality of running levels of different types with different priority. This stratification allows for minimization of the communication between the process controller and motion controller tasks. The running level model has a hierarchical structure with various running levels such as synchronously clocked levels, a user level for system exceptions, an event-controlled user level, a time-controlled user level, a sequential user level and a cyclical user level. Other prioritizing stratifications also may be provided.

Abstract: A configurable running level model of a runtime system (RTS) for the control tasks of an industrial controller (S) for cyclical machines is created in a simple manner, it being possible for the programming of the machine sequence to take place in a sequential program. The wait_for_condition command in this case enables a user to wait for any desired conditions and respond with higher priority in the program flow. User programs (AP1-AP4) can be additionally loaded into the user levels of the running level model.

Abstract: Mechanisms for operating an industrial controller (S) equipped with a runtime system (RTS), in particular for production machines, which enable a user to wait in the program flow for any desired condition are provided, the program flow being immediately continued when the condition is satisfied and the program flow being stopped when the condition is not satisfied, until it is established that the condition has been satisfied, the priority of the checking for the condition being increased in comparison with the current task priority while waiting for the condition to be satisfied. When the condition has been satisfied, a defined program sequence is processed with high priority up to an explicit end, the old task priority being resumed after the explicit end of the program sequence.

Abstract: A method and a device for graphical programming of industrial controllers, in particular motion controllers where a user is supported with regard to programmable controller functionality as well as with regard to motion functionality. A structured textual language is generated from graphical motion control flowcharts and converted in a processor-independent pseudo-code. Only the latter is loaded into the controller and converted to executable code.

Abstract: A method for graphical programming of industrial controllers, in particular motion controllers, that automatically generates suitable graphical elements and respective masks in motion control flowchart notation from user-defined structured text subprograms of a structured textual language.

Abstract: A method for debugging flowchart based computer programs for industrial controllers, in particular motion controllers, wherein suspend commands are assigned to the graphical elements. Through the use of a task control mechanism in the run time system, the user may debug the program on the flowchart level, using a single-step mode and/or a breakpoint mode.