Before downloading Orchestra Control Engine, please read the Orchestra v3.5-2 Installation Procedure.

	Solutions								OS
	Motion Framework				PLC	CNC Basic	CNC Full	Open Robots	Linux	Windows
RTOS Real-Time Operating System for 32-bit i586 CPUs with TSC support: hard realtime Linux kernel, RTAI, RTnet, Comedi, Comedilib - linux-image-rtai - linux-headers-rtai - linux-ubuntu-modules - lum-headers - rtai-base
RTOS-src Source files of OrchestraRTOS - linux-source-rtai-hal - lum-src - rtai-base-src
CoreLib GNU/Linux software library that provides XML and networking capabilities to Orchestra components
HostSupervisor GNU/Linux application that allows mutual discovering and communication among distributed Orchestra components and execution of host-specific tasks
Conf Graphical User Interface for configuring HostSupervisor (Orchestra components autorun services etc.)
Core The hard real-time framework that allows the execution of motion control applications
RTM RunTimeManager: the hard realtime framework for Orchestra soft-PLC solution
	Solutions								OS
	Motion Framework				PLC	CNC Basic	CNC Full	Open Robots	Linux	Windows
Cartesian Interpolation Modules OrchestraCore modules for planning and generating linear/circular trajectories - CartesianInterpolator
Kinematics Modules OrchestraCore modules that implement direct and inverse kinematics - ClikDLS - ClikInv - ClikTransp - KinDir - QuaternionToRpy - QuaternionToZyz  - ZyzToQuaternion - RpyToQuaternion
Bspline and NURBS Interpolation Modules OrchestraCore modules for planning and generating B-spline or NURBS trajectories - Bspline - Nurbs
CNC Framework OrchestraCore modules designed for Control Loops with the most common CNC features - MotionSupervisor - Zero - Jog - Selector - SoftwareLimit - Gantry - BacklashCompensation - AxisCompensation - DiagnosticManager - MotionSupervisorInterface - ChannelInterface - ChannelsMux - ChannelsDemux - CurrentInfo
Compensation Modules OrchestraCore modules for machining head kinematics and 3D tool shape compensation - Compensation3D - DynamicToolLength - RotatingToolCenterPoint
Interaction Control Modules OrchestraCore modules to control the behavior of tool tip during the interaction with the environment     - Force Control     - Impedance Control
	Solutions								OS
	Motion Framework				PLC	CNC Basic	CNC Full	Open Robots	Linux	Windows
Interpreter RTAI application to interpret numerical control G-code programs and interact with OrchestraCore CNC Modules to execute machine works
Mechatrolink RTDM-compliant driver for Yaskawa NT110 PCI card, with a library to access Mechatrolink I/II functions from hard real-time user applications
CanOpen RTDM-compliant driver for Hilscher CIF-50 COM Master board, with a library to access CanOpen functions from hard real-time user applications
Profibus RTDM-compliant driver for Hilscher CIF-50 PB Master board, with a library to access Profibus functions from hard real-time user applications
Ethercat RTDM-compliant EtherCAT driver for NICs based on RealTek RTL8139, Intel PRO/100 or Intel PRO/1000 chipsets, with a library to access EtherCAT functions (CoE support included) from hard real-time user applications
C4G Open Library Linux/RTAI API and OrchestraCore modules for interfacing with Comau C4G Open enabled robot controllers
	Solutions								OS
	Motion Framework				PLC	CNC Basic	CNC Full	Open Robots	Linux	Windows
HMI Human Machine Interface for monitoring and interacting with Orchestra components
3D VRML HMI models 3D example models in VRML format ready to load in OrchestraHMI - Staubli RX130 - Comau NS16
LogicProgramming Integrated Development Environment for programming hard realtime logic control applications in PLC languages (IEC61131-3) that run on RunTimeManager
PLCLib IEC 1131-3 standard function blocks helping the user who wants to develop logic control application
Designer Integrated Development Environment for editing, configuration and building of OrchestraCore Control Loops
Builder Development tool to generate C code and build OrchestraCore modules from Matlab/Simulink models by means of RTW/ERT toolbox
CrossTools Software tool for building OrchestraCore modules on Windows systems with Designer and Builder
ExampleLibrary OrchestraCore example control loop with PID regulator and Comedi I/O
ExampleLibraryCNC OrchestraCore example control loop with motion application for a 3 axes machine tools
PLCDemo PLC example projects ready to load in OrchestraLogicProgramming workspace
User's Guides User's Guides for all the Orchestra Control Engine suite components