PC-based industrial automation sets specific requirements for Windows real-time extension:
deterministic execution of single tasks
coordinated properties of multiple applications
highly accurate timestamps
immediate reaction to external events
lowest possible deviations (Jitter) during cyclic acquisition of measurement data
accurate monitoring of process states in real time
not just simply "fast PCs" at fair-weather conditions, but actual "hard" real-time capabilities
Real-time for Windows
Kithara RealTime Suite is a modular real-time extension that provides several mechanisms to optimally meet such requirements. Here are some core features of the real-time system:
Utilization of the highest system priority (prior to other Windows applications)
thereby uninterrupted execution of priority functions for important tasks
highly accurate reaction to external events (e. g. timer, interrupts, communication interfaces etc.)
programmable high frequency and periodic timers (time-equidistant)
Priority-based preemptive real-time multitasking
Utilization of hardware parallelism (multicore CPUs, real-time task allocation)
Scalability of real-time execution up to extreme real-time capabilities with exclusively used CPU cores
Supports Windows and Windows Server (64-bit operating system only), each with Dedicated Mode
Our high-frequency timers for Windows are widely used in robotics, machine vision, measurement, control and automation. The Kithara environment reaches the same level of performance as pure real-time systems and provides special real-time timers, that can be programmed with frequencies of up to several kilohertz. The deviation (jitter) amounts to only a few microseconds. On exclusively used CPU cores, real-time capabilities can be increased even further, with timers having a maximum jitter of only about 1 microsecond. Thus, it is possible to program and use accurate cyclic timers with frequencies of up tp 20 kHz. For fast data exchange between real-time and application level, events, shared memory, pipe mechanisms and sockets are available.
Many applications can only be implemented by using a complex model of processes. Therefore, powerful tools are required for implementation. The best appropriate approach for this purpose is a priority-based, preemptive multitasking system. The real-time tasks, which provide up to 255 different priority levels reliably ensure that only the task with the highest priority is executed.
Modules
Real-time multitasking with the modular sytem of Kithara RealTime Suite consists of the following components:
Highly accurate calibrated monitoring of system time and short delays
Timer Module,
Accurate real-time timer routines and priority-driven preemptive real-time multitasking
RealTime Tasking Module,
Precise synchronization of multiple network participants
PTP Module.
Timer Module
Highly accurate and calibrated detection of system time as well as short time delays
Common
Features
The Timer Module with its clock functions represents the basis for all real-time tasks. It provides a calibrated access to all hardware time bases in the system. Time information can be freely converted into any time formats, even user specific ones. Short time delays are accurate within a few nanoseconds depending on the utilized hardware. Additionally, it can generate simple timers without real time in millisecond resolution based on Windows mechanisms.
Detection of all operating time bases in the system
Calibration of different timer/clocks
Long-term synchronization of system clocks
Monitoring the system time in different time and user-specific formats, resolution up to 0.1 μs
Highly accurate short time delays in 0.1 µs steps
Programming of user-specific time formats
Reliable prevention of overflows caused by internal 96-bit operations
Creation of simple timers in millisecond resolution based on Windows-mechanisms (no real time)
RealTime Tasking Module
Programming of high frequency real-time timer routines and priority-driven, preemptive real-time multitasking
Common
Features
Extensions
The RealTime Tasking Module complements the Timer Module and enables the programming of timers, which can trigger the application code in different ways. The context of the program execution can be selected. Signalable objects can be events or callbacks at application or kernel level, as well as real-time tasks. Also included is a priority-driven, preemptive real-time multitasking system for the mutual prioritization of single real-time tasks. This allows for detailed handling of which processes come prior to others, halting less important ones as well as which tasks can be interrupted by more important ones, which is equivalent to the mechanisms of a pure real-time operating system (RTOS).
Maximum of two dedicated CPUs, above requires Dedicated CPU Extension.
Real Time
Development of high frequency real-time timer routines
Cyclical or one-time timer programmable
Simple debug and test option with callbacks at application level
Option for timers to directly start, exit or kill
Easy implementation of watchdog mechanisms
Start time can be set in a 0.1 µs resolution (e. g. for synchronization with other processes)
Timer frequencies of up to 20 kHz and more
Jitter in the one-digit microsecond range
Timer period dynamically adjustable
Multitasking
Preemptive real-time system
Real-time tasks with up to 255 different priority levels programmable
Dynamic modification of priority levels
Multiple tasks with the same priority level as “round-robin”
Including priority inheritance to avoid priority inversion
Real-time semaphores for synchronization between real-time tasks
Real-time events for triggering of external tasks
Tasks can be suspended, continued, triggered, exited and killed
Tasks can be delayed (0.1 µs resolution)
Operation of CPU cores exclusively in real-time mode in order to avoid Windows influence
Very short task switching times
Speedloop mode for high-precision cyclical execution
Extension for using additional logical dedicated CPUs
Extended Level: up to 8
Maximum Level (requires Extended Level): up to 47 (more on request)
PTP Module
Real-time synchronization with Precision Time Protocol
Common
Features
Extensions
The PTP Module allows for multiple network participants within a distributed system to accurately synchronize with each other and to be controlled in real time. The Kithara real-time system generates precise timestamps with deviations in the sub-microsecond range in order to match the clock of all participants. The API provides access to the BMCA (Best Master Clock Algorithm), which determines the Master clock according to configurable parameters. Alternatively, master and slaves can be set manually.
Precise synchronization of multiple network participants
Accurate timestamps with deviations in the sub-microsecond range
Real-time communication and synchronization with NMEA 0183.
gPTP Extension
The gPTP Extension complements the PTP Module with support for the “generalized Precision Time Protocol” (defined in IEEE 802.1AS), a simplified PTP profile. The gPTP Extension allows for highly accurate synchronization of all clocks within a distributed system but limits itself to a more straightforward set of functions, making it suitable for a broader range of applications. For example, clocks do not have to be configured individually but are all standardized.
Precise synchronization of multiple network participants
Simplified PTP profile
All clocks standardized
Easier configuration of the BMCA (Best Master Clock Algorithm)
In order to gain “hard” real-time capabilities, it is necessary to run the application code in the kernel mode of the system.
Code execution at kernel level is supported by C, C++ and Delphi as well as C# (by transferring the code into a DLL)
Due to the fact that the system library is available for the customers, they benefit from a lean and on-demand programming, which the developers control down to the smallest detail. Thus, adjustments can be easily implemented by developers themselves instead of a "Black Box" concept.
Realize complex and sophisticated applications by means of our bundled know-how. Use multitasking and real-time ethernet communication up to 10 Gbit/s for a wide variety of automated applications, such as EtherCAT or CANopen based fieldbus applications. Complementary and efficient development tools, such as
Kithara Kernel Tracer for monitoring all processes accurate down to the microsecond or Kithara Master Monitor for graphical visualization and control of connected I/O terminals, sensors and actuators, complete the package.
Yes. Thanks to the Dedicated CPU function, Kithara RealTime Suite is an RTOS in terms of performance. The real-time system and Windows run separately but in parallel on previously assigned CPU cores, ensuring they do not slow each other down.
In an RTOS, tasks must be managed deterministically, for example through fixed priorities, and a fast and predictable context switch between these tasks must be guaranteed.
The PTP stack runs directly within the real-time context of the Kithara real-time extension. Only this ensures that PTP packets are processed with the required priority and without delays caused by Windows background processes.
A real-time timer enables precisely deterministic task execution with guaranteed cycle times and minimal jitter. It is required wherever time-critical processes such as motion control, measurement technology, control systems, or industrial communication must run reliably and reproducibly.
Soft real-time tolerates occasional timing violations, whereas hard real-time guarantees that defined time limits are never exceeded. Kithara RealTime Suite meets hard real-time requirements and is therefore suitable for safety- and quality-critical industrial applications.
Yes. The real-time timer supports true deterministic multitasking with fixed priorities. Multiple time-critical tasks can be scheduled and executed in parallel and independently of one another.
EtherCAT® and Safety over EtherCAT® are registered trademarks and patented technologies, licensed by Beckhoff Automation GmbH, Germany. CANopen® is a registered trademark of the CAN in Automation e. V. GigE Vision® is a registered trademark of the Automated Imaging Association. USB3 Vision® is a registered trademark of the Automated Imaging Association.
