Giddings & Lewis is not marketed like other PLC's. They have historically "gotten in the door" by being able to perform difficult applications. One of there latest products is called a digital MMC. It is a PLC with many of the favored features mentioned in these threads. It uses tag based variables with no predefined image tables. It can do 64 closed loop analog axes at a 2ms clip while scanning an appreciable ladder. The servos are setup in a file then that file is loaded in the main ladder with a one shot. This starts the servo interrupt. There are hundreds of motion functions in the library as well as ASFB's (application specific function blocks) to aid in motion applications. They also offer a wide range of ASFB's for other applications. These are included with the software. Their customer support is the best I have ever encountered. If you are not familiar with G&L, check them out. This controller is not a motion controller with some PLC capabilities. It is a programmable controller with tremendous motion capabilities.