PLC OS AND IDE?

HI,
I SEE THAT THERE ARE A LOT O 3RD PARTY RESOURCES FOR THIS PLATFORM (NETWORK PROTOCOLS, RT OS'S, ETC).
IM INTERESTED ABOUT A COMPANY THAT WAS DEVELOPED A PLC OS FOR THIS MICROCONTROLLERS, SINCE THE ONLINE DEBUG OK KEIL HALTS THE MICROCONTROLER, AND SOMETIMES THIS IS UN ASSUMIBLE.
ALSO, TO WRITE MULTITASKING IN A PLC IS QUITE EASY, I THINK.

DOES ANYBODY KNOW SOMETHING ABOUT THIS MATTER?

THANK YOU!