Abstract
<jats:p>The paper proposes a hybrid controller architecture where the main control algorithm is executed in IEC 61131-3 languages via a virtual machine, but with support from native blocks using PIO (Programmable Input/Output) state machines available in systems such as the RP2040 is proposed. Various implementations of RS, SR, and CTD blocks using PIO were analyzed, comparing their execution time with that of an implementation in the ST language. It was demonstrated that native PIO blocks are significantly faster than those executed by the virtual machine. Despite some limitations, such as the need to pre-program blocks in firmware or the limited number of instructions in PIO blocks, this solution offers significant benefits in applications where the execution time of operations is critical.</jats:p>