How do you optimize PLC programs for performance?

PLC program optimization strategies: organize code by scan requirements (critical logic in faster task, non-critical in slower), minimize ladder rung evaluations (frequently-true conditions first), use efficient data types (INT vs REAL where applicable), avoid repeated calculations (calculate once, store result), optimize loops and searches (binary search for large arrays), use manufacturer-specific efficient instructions. Profiling: measure task execution times, identify bottlenecks, monitor memory usage. For motion/safety, ensure deterministic execution. Consider: modular code for maintainability may trade some performance. Document optimization decisions and test thoroughly.