Which several parts includes In a loop time of rmc150。
Like siemens cpu400，see attachment
Each control loop, the RMC reads the inputs, computes the control algorithms, processes the user programs and any received commands and updates the outputs. In the remaining time, the RMC does all other functions, such as communications. The RMC has a fixed control loop time, which can be set by the user. RMCTools makes sure the worst-case execution time of the project will not exceed the control loop time.