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There is a Subway that Carries Senators, Congress people and their assistants between the Capitol building(Rotunda) and the associated buildings miles away. It is Underground and not accessible to the Public. It was originally commissioned in 1982 utilizing PLC-5 Controls and 1336 Plus AC drives communicating on Remote IO. The Motors are not Rotary, they are Linear Motors as in, there are not shaft, pulleys, gears, belts, or driven wheels. There are 7 PLCs communicating with each other via Data Highway over Fiberthe controls were getting old in 2017, Rockwell no longer was repairing the 1336 plus drives. A new approach was needed. ALS proposed using Controllogix and Powerflex Drives communicating on Ethernet as a state of the art approach to carry the Senate forward, literally, into the next 50 years of operation. The real challenge was in minimizing downtime, and eliminating startup issues. ALS accomplished this via the use of accurate program conversions and high familiarity with the intricate details of the Programs controlling the subway. Handoffs occur from PLC to PLC as the train travels, so this needs to be a seemless(bumpless) transfer between control areas.
 

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