Two related questions posed to biology-inspired cognitive robotics are: (1) what form might a motor plan take in the brain, and (2) how might such a plan be converted into coordinated motor behavior? One approach to modeling the motor plan is to assume a stream of discrete instructions. This conceptualization has been attractive in cognitive science because it allows theorists to discuss motor planning (and perception) in terms of notation systems. However, many brain and robotics researchers have come to view the idea of the discrete motor plan to be wanting. SCA-Net provides a concrete alternative based on established brain circuitry. The approach allows for the coding of perception and production representations in a way that is useful to notation-oriented cognitive architectures.