Can we use beremiz real-time engine for robot programmable logic controller?

Any small defect is not permitted in the industry, so PLC real-time engine performance is very important for industry robot control system. Because these industrial characteristic, a new untested system can't be used in real field. Recently, a new integrated development environment named Beremiz for machine automation is invented. Beremiz is open-source software. This means that Beremiz have openness and extensibility differ from existing development software. But it is new software, Performance Verification is essential for used in real field. Therefore, this paper verify Beremiz real-time engine performance by comparing Codesys real-time engine (Window/Linux). For this, we measured Jitter values with specific PLCload and measured 10 signal by oscilloscope at the same time. All performance verifications are investigated in the same device. As a result, we can found Beremiz real-time engine performance is enough to use in real field.