DMC began by working with the original equipment manufacturer (OEM) to reuse as much of the existing program as possible, reducing the overall project duration and cost. The original program was divided into two parts: system-level logic on the PLC, and a C++ script on each of the Ultra 3000 drives to handle all motion control. The Ultra 3000 program was rewritten in ladder logic, and integrated with the rest of the PLC program. Commands were sent to the new Kollmorgen AKD drives over a combination of EtherNet/IP and high-speed digital triggers for time-critical motion commands

DMC worked closely with the OEM during the commissioning phase of the project when the program was thoroughly tested and debugged. This gave the customer familiarity with the new program, allowing them to easily modify the program for use with future machines that require a different number of axes.

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