Matlab/Simulink with TwinCAT

Currently our Team use a HIL System based on Simulink + Realtime Workshop and TwinCAT3. I would like to design and test divers Control and Path Planner algorithms with a rate of 5 and 10 [KHz]. My question is: it’s makes sense to design and test with this Type of HIL System, or this Feature (TwinCat3 + Matlab/Simulink) is appropriate only for simple Simulations with minor realtime requirements . What are the advantages and disadvantages of this Feature? Can you please give me a short Intro, how such a System works?

[Jon Boerner]

I am not very familiar with TwinCAT, but it seems like the overall real-time capabilities of the system you are describing come down to the capabilities of the TwinCAT software.

My understanding of your workflow is that Real-time workshop (or Simulink Coder/Embedded Coder in newer versions) produces code that is then compiled through TwinCAT and run on the TwinCAT real-time system. The amount of work that can be in a given time step would be dictated by the hardware you are using and the quality of the compiled code coming out of TwinCAT. That being said, there are also optimizations that could be made when generating code using Real-Time Workshop that would make it go faster as well.

Really, though, this would probably be a question best posed to Beckhoff to see what TwinCAT is capable of.