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Hi, I am looking at options for integrating MATLAB/Simulink with Q-series PLC (Q04UDE) for hardware-in-the-loop simulations. I would like to have a Simulink model send speed/torque setpoints to the PLC and have measured values feedback from the PLC to the model. I know this can be done via OPC but I think the update rate may too slow for our purposes (I would ideally like to have <100ms update rate). Also, I saw Simulink have a toolbox for converting their models to PLC code, but they don't seem to support Mitsubishi PLCs. Anyone have any ideas on how this can be done? Thanks, Darren