Mechatronic objects encapsulation in IEC 1131-3 norm

The paper is concerned with the definition and use of "mechatronic objects" for the design of complex manufacturing systems such as large machinery. In particular the programming languages and structures defined under the IEC 1131-3 norm are considered regarding the software encapsulation of the mechanical system. The paper reports on a real application example of the proposed concepts showing the effectiveness of the object-oriented framework for industrial applications.