at least one runtime V3.5 [...] , at least V3.5 [...] version >= SP16

This applies to CODESYS versions < V3.5 SP11. :

only with RTE Vx >= V3.5 SP [...] -Karten with FW > 3.1.x.x (in the CODESYS setup

in Runtime V3.5 SP [...] CODESYS Control Win V3 [...] Win V3 : Install