In this paper, a scheduling algorithm is proposed for a programmable logic controller (PLC) with remote I/Os, assuming the multi-tasking facilities. Since sequence programs are executed on the application processor and I/O data are transmitted by the network processor concurrently, the proposed algorithm schedules the data transmission as well as the sequence program execution. The suggested algorithm guarantees the bounded response time, which is one third of the worst case response time in the absence of scheduling. Computer simulation shows that the algorithm can be easily applied to a real PLC without critical constraints on utilization of resources and inter-relation among tasks.
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