Motion Automation Introduction

Motion Control
Developed by Advantech IAG Training Center

(Internal Use Only)
I
Table of Contents
Table of Contents..................................................................................................I
Chapter 1 Introduction..........................................................................................1
1.1 Industry Overview......................................................................................1
1.2 Application Story.......................................................................................2
1.3 Learning Purpose......................................................................................11
1.4 Structure of the Textbook.........................................................................11
Chapter 2 Essential Concepts..............................................................................13

2.1 Motion Control System............................................................................13
2.2 Types of Motors.......................................................................................16
2.3 Motion Control Mode...............................................................................17
2.4 Pulse Types of Motion Control................................................................21
2.5 Speed Profile of Motor Driving...............................................................22
2.6 Interpolation.............................................................................................24
2.7 Position Compare.....................................................................................28
2.8 Position Latch...........................................................................................29
2.9 Quiz..........................................................................................................29
Chapter 3 Product Introduction.........................................................................31

3.1 Centralized Motion Control System.........................................................31
3.2 Decentralized Motion Control System.....................................................32
3.3 Product Selection Guide...........................................................................36
3.4 Centralized vs. Decentralized...................................................................39
3.5 Quiz..........................................................................................................40
Chapter 4 Getting Started...................................................................................42

4.1 Centralized Motion Control System.........................................................42
4.2 Practice for Centralized System...............................................................56

II
4.3 Decentralized Motion Control System.....................................................65
4.4 Pratice for Decentralized System.............................................................76
4.5 Hands on Exams.......................................................................................83
Chapter 5 Software Introduction (Advanced)...................................................86

5.1 Programming Introduction.......................................................................86
5.2 Microsoft Visual Studio Introduction.......................................................87
5.2.1 DLL Programming for Centralized System.................................87
5.2.2 DLL Programming for Decentralized System............................104
5.3 Labview for Centralized Motion Control...............................................117
5.4 Introduction of MultiProg KW...............................................................120
5.5 Multiprog KW Programming of Motion................................................120
5.5.1 Basic Configuration of Multiprog KW......................................121
5.5.2 Motion Function Introduction of Multiprog KW.......................127
5.5.3 Advanced Motion Function of Multiprog KW..........................134
5.6 KW and SCADA Integration..................................................................142
5.7 Quiz........................................................................................................144
References.........................................................................................................147
References1
Chapter 1 Introduction
1.1 Industry Overview
The automation industry contains a variety of automation, like building
automation, machine automation, environmental monitoring system automation, and
etc. The overview is shown in Figure 1 -1.
Figure 1-1 eAutomation Overview
Due to the fact that the environment of industrial applications is always tough,
some specifications such as the temperature tolerance and vibration protection are
getting important. As a result, companies supplying industrial equipments devote their
attention to the way of making products more reliable and flexible. For example,
industrial computers come with more PCI slots so as to meet the need of system
expansion; in building automation, the combination of fanless platforms (ex: UNO
Advantech IAG Training Center (Internal Use Only)

2 Software Introduction (Advanced)
series) and remote I/O modules (ex: ADAM-4000/6000 series) is usually adopted to
ensure the security of buildings; in power and energy automation, green devices (ex:
xxx) can bring the efficiency of power consumption and reduce the emission of
greenhouse gas; in machine automation, distributed motion control devices (ex:
AMAX series) facilitate the implementation in a more cost-effective way. To be a
machine designer, it is imperative to consider the motor moving theory and machine
protection; however, the most important thing is how to increase the speed of
manufacturing process and prevent the machine mechanism from damage in any
situation or operation. This textbook, therefore, will focus on the basic knowledge of
motion control system so that beginners will know how to use these modules in
relation to motion automation.
1.2 Application Story
There are a great diversity of applications in motion automation. This section
will introduce the most popular applications of motion control system. After viewing
these applications, users will learn more about motion automation.
Decentralized motion control in solar cell loader/unloader application
Solar cells convert solar energy into electricity through the photovoltaic effect,

References3
which is useful for many applications. Individual cells can be used for powering small
devices, such as electronic calculators, while the larger photovoltaic arrays can
generate a significant amount of renewable electricity. One machine builder in Taiwan
integrated a wide range of Advantech products so as to meet the requirements of the
solar cell loader/unloader project which was aimed at reducing wiring costs and
improving the reliability of Ethernet communication infrastructure.
The existing motion control system adopted by this customer is highly
complicated, that makes system maintenance and troubleshooting much difficult and
expensive. In order to reduce the cost and increase the reliability, the customer
expects to implement a decentralized motion control solution which requires:
High performance products with great reliability
A simplified Ethernet infrastructure to reduce wiring
The ability to integrate all production information into MES and CIM systems
In this solution, AMAX-2241/PMA was used to control the conveyer belt and the
solar cell lifting mechanisms. Due to special concerns from the customer, we
successfully created a special junction cable allowing AMAX-2241/PMA to integrate
with a Panasonic servo motor. AMAX-2752SY/ 2754SY was adopted to integrate all
light indicators, switches and buttons. UNO-3074 is the main controller of the whole
system, it not only communicates with the solar cell process controller but also sends
motion control commands to AMAX-2000 series modules through PCI-1202U;

besides, all of production information is also stored here for further integration into
MES and CIM systems.
Leveraging the flexibility of a decentralized motion control system with
Advantech products was the only way to meet the strict demands of this project. The
new solar cell loader/unloader machine reduced the dimension of the distribution
panel by 50% and reduced the overall wiring of the system by 37%. In addition, the
performance increased 23% by simplifying the architecture of the system (i.e.,
replacing out-of-date centralized motion control architecture with our decentralized
motion control solution). Compared with the old system, this new one was relatively
easier to maintain and troubleshoot; in other words, the customer no more needs to
stop production line and open the chassis of the machine to maintain plug-in motion
control and DAQ cards. The system diagram is shown in Figure 1 -2.
Figure 1-2 solar cell loader/unloader system diagram

References5
Decentralized motion control in a handler application
Although the global semiconductor market was relatively flat in 2007, back-end
semiconductor machine builders in Asia still experienced strong growth, especially in
test and handler machines. Due to the high cost of those machines, many customers
chose to inspect the dies manually with a microscope to reduce operation costs. Using
this method though, performance and yield rate were very low. Recently a machine
builder developed a PC-based handler system with centralized motion control
solution, but the system was very complex and the dimensions were quite big. The
machine builder turned to Advantech seeking help to decrease the complexity of the
electronic components while increasing the reliability and performance of the system.
This customer was considering to phase in new automatic test equipments that
fulfilled below requirements:
Reduce the size of equipments (overall dimensions)
Integrate both motion control and digital I/O interfaces
Can integrate Panasonic and Sanyo servo motor drivers
All of production information can be integrated into both MES and CIM systems
This handler system was composed of an IACP-4000D, PCI-1739U, PCI-1202U

and 8 AMONet slave modules. PCI-1739U served as the loader/unloader of the IC
components in different segments. AMAX-2752SY/AMAX-2754SY was used to
control the power and the LEDs of the machine. Advantech offered a customized
circuit which allowed AMAX-2241/PMA to fit both Panasonic and Sanyo motor
drivers. The complex PC-based control scheme was completed through the
implementation of the AMAX-2000 series products.
Leveraging decentralized motion controls flexibility and technology were the
only way to meet our customers demands. This new handler machine reduced the
dimension of the distribution panel by 50% and saved wiring and effort by 33%. It
also increased performance by 20% and simplified the architecture (decentralized
instead of centralized motion control). In the past, the customer needed to open the
chassis to maintain plug-in cards, but now its not necessary. Furthermore, the
consistent outlook and dimension of AMAX-2000 series brought more add-on value
to machine builders, and its DIN-rail mounting also facilitated easy installation. The
system diagram is illustrated in Figure 1 -3.

References7
Figure 1-3 Handler system diagram
Decentralized motion control in laser carving machines
One customer in Taiwan developed variant electronics manufacturing machines.
The customer received a new order for laser carving machines, and wanted to upgrade
their existing motion control solution so as to reduce the complexity of the system
architecture and the size of the machine. The customer had been evaluating our
AMAX-2000 series, but was a bit concerned that the connector was different from the
current solution. Advantech was willing to modify the design of the AMAX-2000
series, creating new and unique AMAX-2000 series modules for this customer.
The new laser carving system this customer would like to implement needs to
meet below requirements:
The smaller size of distribution panel to fit the need of machine dimensions
The compatibility between new solution and existing system
The ability to integrate production information into MES and CIM systems
UNO-3072L featured an onboard DI/O interface which was useful for power
management issues. After finishing all production in the factory floor, the operator
could press the shut down button to trigger the digital input of UNO-3072L to close
the application program and the operating system. After that, the digital output of
UNO-3072L would be enabled to notify the main controller to turn off the whole

system power. This function would not only protect UNO-3072L and its relative
interfaces but also bring better performance and lower maintenance effort.
Furthermore, PCI-1620A enabled the carving machine to communicate with more
devices through RS-232, that indicated PLCs and motor sets outside the system could
be integrated as well.
Most of the machines were required to reduce the dimension. Embedded
automation computers plus AMAX-2000 series could meet this demand. This solution
was more robust than traditional IPCs, and could save much wiring and maintenance
effort. It was the best choice for electronics manufacturing machines. This new laser
carving machine reduced 50% of the panel dimension and saved 33% of the wiring
time and effort, it increased the performance by 20% through a simplified architecture
(decentralized motion control architecture) as well as the flexibility for future
expansion. The system is shown in Figure 1 -4.
Figure 1-4 Laser carving system diagram

References9
High speed injection modeling machines
Injection molding machines were used for manufacturing plastic parts, and in
recent years many of these machines had begun integrating intelligent features with
energy-saving capabilities. Additional functions, such as electronic measurements,
calculators, network communications, real-time auto-control, automatic adjustments
and auto system diagnosis were being integrated as well, not only improving systems
reliability but also increasing machine owners competitiveness in the market.
The purpose of this solution was to integrate an older injection molding machine
with a new Programmable Automation Controller (PAC). The customer was looking
for the approach to following benefits:
Improved precision and stability, with a quick response time
Improved energy-efficiency
Complete closed-loop control with a high degree of accuracy
A very low temperature variance to improve injection stability
Injection location at 0.01 mm, over 10 times than hydraulic driving machine
High power output, with a quick dynamic response rate
Touch-screen operation, reasonable price
ADAM-5550KW integrated into this system increased the injection molding

machines response time through high-speed analog input, monitored its closed-loop
process through analog output, and controlled related machines motion through
digital input and output, so as to manage the location and dose of objectives through
the high-speed calculator module. The various modules inserted to the PAC could also
control diverse devices, such as push buttons, LED indicators, thermometer, heating,
storage, and so on. With FPM-3120G (12.1 LCD panel with resistive touch-screen),
the customer has a higher degree of control over energy efficiency.
Taking advantage of ADAM-5550KW, the customer improved production speed,
reliability and power consumption. Additionally, this solution saved maintenance and
production costs for the customer. The system diagram is shown in Figure 1 -5.
Figure 1-5 High speed injection system diagram

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1.3 Learning Purpose
The purpose of this textbook aims to assist beginners to learn the basic concept
of motion control and understand how to use Advantech motion modules. If you are
already familiar with this, please go to for advanced software programming. After
reading this textbook, we expect that the users can know the architecture of motion
control system well and enhance the skill of using Advantech utilities and examples in
relation to the control of servo motors. The users can go further to base on the
examples described in the textbook to develop their own applications.
1.4 Structure of the Textbook
This textbook will be separated into six chapters. In Chapter 1, the overview of
industry, the application story of the motion control and whats the rule of the motion
control will be introduced in Section 1.2. In Chapter 2, the essential basic concept will
be described in more detail. The motion control system, actually, is like the human
moving, the differences between these two closed loop motion control systems will be
discussed in Section 2.1. The types of motors, motion control mode, pulse type of
motion control system will be illustrated in Section 2.2, 2.3, and 2.4. The types and
functions of the speed profile for motion control will be explained in Section 2.5.
Some advanced functions such as interpolation, position compare, and position latch

will be defined in Section 2.6, 2.7, and 2.8.
In Chapter 3, how to select the most suitable products to meet real situation will
be addressed. The structure of centralized and decentralized motion control systems
will be explained in Section 3.1 and 3.2. In Section 3.3 and 3.4, there are some tips for
the users about how to select products to match their needs and recognize the
differences between centralized and decentralized motion control systems. In Chapter
4, the startup of the centralized and decentralized motion control systems will be
demonstrated step by step. It contains system diagram, connection diagram, utility
operation and some hands-on practices.
In , the software for Advantech motion modules will be introduced. In Section
5.2, the users will experience the programming tutorial of Microsoft Visual Studio
DLL programming. In Section 5.3, Labview software will be illustrated, especially for
PCI-1240U in centralized motion control systems. Through this section, the users will
be familiar with the way of using Labview software to control PCI-1240U. In Section
5.5 and 5.6, KW Multiprog programming will be highlighted and the users will learn
how to control the motion modules through KW. Furthermore, KW software can be
integrated with SCADA software such as Advantech Studio and WebAccess through
Modbus/TCP communication protocol.

References13
Chapter 2 Essential Concepts
In order to learn more about motion control, this chapter will introduce the basic
knowledge and advanced function of motion control. The operation principle of
motion control system will be addressed in this chapter.
2.1 Motion Control System
Motion control system can be viewed as an action done by human. Please refer
to Figure 2 -6. The controller works as the brain to collect necessary information,
conduct calculation and make decisions. Motors and their corresponding drivers
provide power to move. Ball-screw and hardware are adopted to execute proper move.
In the end, vision devices and sensors detect the result and feedback information to
the controller. The closed loop control enables the controller to correctly react to
changes in the environment, just like what a human being does.

Figure 2-6 Motion Control system
PC-based control system is shown in Figure 2 -7. In the application market,
most companies adopt such control structure. In this structure, PCI card sends basic
function (ex: point to point, continuous move, and homing) and advanced function
(ex: linear interpolation and circular interpolation) commands to servo motor. The
servo driver takes advantage of closed loop control to manage the servo motor to
reach the pre-defined position accurately.

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Figure 2-7 PC-based Motion Control System 1
Another control structure is shown in Figure 2 -8 and it is for advanced
application. Some customers doubt the accuracy of the motor and gear combination.
For this reason, linear scale is adopted to measure the real position of the end point.
Thus, the second closed loop is used in order to get more accurate position control.
Figure 2-8 PC-based Motion Control System 2

2.2 Types of Motors
Generally, there are a lot of types of motors shown in Figure 2 -9. For the most
general motor, it just can be controlled by direction with constant speed. Such type of
motor is usually used in car models or other toys. The second general type of motor
has brake and clutch function, which can be stopped immediately so as to prevent the
motor from damage. If the motor has inverter, the user can control the acceleration
and deceleration. Stepping motor can do position and speed control. Basically,
stepping motors can be adopted for most of low-end applications. The four types of
motors described above do not involve encoder feedback. As a result, the user cant
know exactly what the real position is. In the industrial field, if customers want to do
precision control, servo motor is preferred and more popular. Therefore, there are
many companies devoting to develop servo motors, such as Mitsubishi, Panasonic,
and Yaskawa.

References17
Figure 2-9 Types of Motors
2.3 Motion Control Mode
Due to the fact that servo motors are usually adopted for industrial applications,
this section will put a stress on the introduction of the control mode of servo motors.
1. Pulse Command Mode
Position Control
Position control is mostly used in common motion application, and it is easy to
understand its operation principle. The motion controller sends the servo motor the

pulse type command so as to control the motor to reach the target. The frequency of
the pulses, in fact, can determine the position, speed, and acceleration/deceleration.
The position control system contains a position controller, servo motor, and
encoder feedback. The system diagram is shown in Figure 2 -10.
Figure 2-10 Position control system diagram
First of all, the controller sends commands out, including end point, initial
speed, maximum speed, and acceleration/deceleration. When the servo driver receives
the commands, the servo motor is managed through the closed loop position control to
reach the target with desired velocity and acceleration/deceleration. Under this control
mode, the key issue is whether the motor arrives at the end position. If readings from
the logical counter and the real counter are not consistent (i.e., not arrive at the end
position), the servo driver will keep driving the motor until both readings are the
same..
2. Voltage Command Mode
Speed Control
Speed control means that the motor speed is controlled by different voltage. For
instance, the speed of a DC motor is directly proportional to the voltage supplied, if

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the supply voltage is descreased from 12 to 6 Volts, the speed of motor will be in half.
The system diagram of speed control is shown in Figure 2 -11.
Figure 2-11 Speed control system diagram
The striped thing between the motor and the dc generator is a shaft which
couples them together in a mechanical way. The motor drives the generator
(tachometer) via this shaft. The set speed control provides a dc voltage, say 12 volts
for maximum speed and zero for stationary. This could be a potentiometer providing
any voltage in a range from zero to +12 volts. The difference amplifier will magnify
the difference between its two input voltages. If the motor is stationary but the speed
control is moving to half of max speed, there must be a variation between two inputs
of the difference amplifier (i.e., speed control and tachometer). Consequently, the
difference amplifier will output a voltage to next stage.
Since this voltage is not high enough to drive the motor, it needs to be magnified
through the DC amplifier. A DC amplifier is a special type of amplifier which can
proportionally enlarge DC voltages. For example, 10 volts DC input could become
100 volts DC output. This amplified DC voltage enables the DC motor to increase its
speed of rotation. This in turn drivers the tachometer to produce a voltage based on
the speed of the motor. When the output voltage of the tachometer gradually increases
and reaches the voltage of "set speed", the outputs of the difference amplifier and DC

amplifier become zero, so the motor stays at correct speed. However, the motor is no
longer driven by the DC amplifier, its speed starts decreasing. As a result, the
tachometer output voltage becomes declined, and a difference between two inputs of
the difference amplifier is appeared, so the difference amplifier and DC amplifier
work again to correct this drop in speed. In a poorly designed system, the drop in
speed and its correction process could lead to the phenomenon of "hunting" (i.e., a
regular variation in speed).
Torque Control
Direct torque control (DTC) is one method used in variable frequency drives to
control the torque (and thus finally the speed) of three-phase AC electric motors. This
involves calculating an estimate of the motor's magnetic flux and torque based on the
measured voltage and current of the motor.
Stator flux linkage is estimated by integrating the stator voltages. Torque is
estimated as a cross product of estimated stator flux linkage vector and measured
motor current vector. The estimated flux magnitude and torque are then compared
with their reference values. If either the estimated flux or torque deviates from the
reference more than allowed tolerance, the transistors of the variable frequency drive
are turned off and on in such a way that the flux and torque will return in their
tolerance bands as fast as possible. Thus direct torque control is one form of the
hysteresis or bang-bang control.

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2.4 Pulse Types of Motion Control
Generally, there are three pulse types of output/input signals of position control
as shown in Figure 2 -12, namely AB phase, CW/CCW and Pulse/Direction.
Figure 2-12 Pulse type of position control
They all use 2 input signals to decide the position. For CW/CCW mode, one
signal (CW) is used as the positive command whereas the other (CCW) is used as
negative command. For Pulse/Direction mode, the signals Direction and Pulse
determine the direction and the distance of the move respectively. For AB phase, it is
mostly used in the industrial application. If the signal A leads B by a rising or
falling edge, then the number of steps will be added by one, and vice versa. Due to the
phase shift feature of AB phase, the impact of noise interference can be minimized.

2.5 Speed Profile of Motor Driving
In order to match different motion applications, speed profile is necessary and
important. Users can take advantage of speed profile to have the motor meet the
requirements of moving.
There are two types of acceleration/deceleration profiles, that is, T-curve and S-
curve, which are shown in Figure 2 -13 and Figure 2 -14. T-curve is the speed profile
adopted for most applications often. Giving an acceleration, the time from initial
speed to driving speed can be decided.
Figure 2-13 Trapezoidal curve driving
If the load the motor carries is heavy, S-curve speed profile may be taken into
account. The feature of S-curve is that the acceleration/deceleration is increasing in
the beginning and decreasing in the end, rather than constant acceleration/deceleration
in T-curve speed profile. This way can avoid mechanical damage caused by rapid
change in speed.

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Figure 2-14 S-curve acceleration/deceleration driving
In some motion cards, change position on the fly and change velocity on the
fly may be addressed specially (see Figure 2 -15 and Figure 2 -16). For example,
the end position of motor the user sets in the first place is 10000 pulses, but for some
reasons, the end position needs to be changed to 20000 pulses during the motion, the
function of change position on the fly can be used to meet such situation.
Figure 2-15 Change position on the fly

Figure 2-16 Change velocity on the fly
2.6 Interpolation
There are three types of interpolation, namely linear interpolation, circular
interpolation, and continuous interpolation which combines linear and circular
interpolation. The detailed description is shown as follows.
1. Linear interpolation
Interpolation is the approximation of some lines within a certain range. With this
function, users can adopt 2 or 3 or even more axes to draw line, circle or even a
helical line. The picture below shows a linear interpolation with error of 0.5LSB.

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Figure 2-17 Linear interpolation
For a 2-axis interpolation, the controller can base on the commands to decide the
long axis and the short axis. The long axis moves with an average pulse train and the
short axis moves according to the long axis (see Figure 2 -18, XPP means X-axis
Pulse Plus and XPM means X-axis Pulse Minus).
Figure 2-18 The example for pulse output (X=20, Y=9)
2. Circular interpolation
For circular interpolation application, we can use circular to draw a circle, but

the precision is usually a little less than that of the linear interpolation.
Figure 2-19 Circular interpolation
Likewise, the 2-axis circular interpolation also uses the long and the short
axes to accomplish the task.

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Figure 2-20 The example of pulse output in circular driving
3. Continuous interpolation
Continuous interpolation comprises a series of different interpolations. The
feature of continuous interpolation is that there is no acceleration and deceleration
between two interpolations. If users develop programs by themselves to run a path
like the right diagram of Figure 2-16, deceleration and acceleration can be expected at
each node. If users adopt the function of continuous interpolation, acceleration and
deceleration just happen in the beginning (start) and in the end (stop), the motor
moves with constant speed during the period of time.
Figure 2-21 Continuous interpolation

2.7 Position Compare
Not only the quality but also the efficiency of products are addressed in recent
years. For motion application, users always think how to increase the speed of
manufacturing, the function of position compare serves as a way to meet such
requirement. For example, the camera is required if users want to inspect the status of
ICs (see Figure 2 -22). In the past, the camera moves from point to point. That is to
say, the camera stops moving while arriving at a targeted point, and the actuator
enables the camera to take a picture, and then move the camera to next targeted
point.This way does waste some time on acceleration and deceleration. However,
when the function of position compare is adopted, the targeted points can be pre-
defined, so that the camera can base on the configuration to take pictures at a constant
speed without any stop.
Figure 2-22 Position compare application

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2.8 Position Latch
The function of position latch can be used to detect the real position of certain
specific point. Figure 2 -23 gives an example, a sensor is installed at P006 of the die
saw machine. When the saw moves down to P006, the sensor sends the signal to the
motion module, so that the PC can recognize the difference between desired position
and real position.
Figure 2-23 Position latch application
About Homing and Limit functions, it will be introduced in Chapter 4 through hands
on practice.
2.9 Quiz

1. Please try to describe the architecture of motion control system and explain the
function of each part.
2. Please list down the advantage of stepping motors and servo motors.
3. There are three types of motor control, please describe them and note that these
controls are done with what signal (Pulse Command or Voltage Command).
4. Whats position control? Please try to define it.
5. Please explain the rule of three pulse command forms. (CW/CCW, , )
6. There are three types of pulse type signal, namely pulse/direction, CW/CCW,
and AB phase. Which type is mostly suitable in industrial application? Please
specify it and list down the advantage.
7. Please explain the S-curve speed profile.
8. There are three types of interpolation modes. Please illustrate them.
9. Whats the advantage of position compare? Please specify it.
10. Whats the advantage of position latch? Please specify it.

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Chapter 3 Product Introduction
Generally speaking, motion control systems can be classified into two types
centralized and decentralized. The centralized motion control system was often
employed in the past, but when the machine size was getting bigger, it increased the
degree of the complexity of the centralized control system so as to raise the
maintenance effort. Consequently, the decentralized control system emerged. In this
section, the difference and comparison between centralized and decentralized control
systems will be introduced.
3.1 Centralized Motion Control System
The centralized motion control system is always adopted in the context of shorter
wiring distance and less motion axes. In general, one or few motion cards needs to be
inserted into one PC to comprise a centralized motion control system, the number of
axis depends on the amount of slots provided by the PC and the size of the plant is
concerned with the cable length. Here is an example of the centralized control system
which is shown in Figure 3 -24.

Figure 3-24 Centralized motion control system
This system includes several parts: PC, PC-based motion card, servo driver,
servo motor and sensors. The PC-based motion card is controlled directly by PCI bus
so that commands can be sent very fast. This structure tends to be selected for time-
concerned application. However, the PC needs to be fixed somewhere, that implies
the distance of the wiring between the PC and servo driver (or sensors) may be a
concern in the such system. For this reason, users may reduce the number of motion
axis to decrease the degree of the difficulty of the wiring.
3.2 Decentralized Motion Control System
Due to the advancement of communication technology, companies in relation to

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motion automation start having a tendency to integrate the function of communication
into the motion control system, that is the turning point from the centralized to the
decentralized motion control system. Compared with the former, the latter can
overcome the distance problem by taking advantage of communication. AMONet,
developed by Advantech (not industrial standard), is a kind of communication
protocol and applied to the decentralized motion control system. It is a high speed RS-
485 communication and the speed can be up to 20MHz. The system diagram is shown
in Figure 3 -25.
Figure 3-25 Decentralized motion control system
The system includes master controller, slave modules, servo drivers, servo
motors, and sensors. Through AMONet, the master controller can manage all slave
modules and the wiring distance between the master and slaves can be more than
100m. Furthermore, one master controller can drive up to 64 slave modules. The
master controller can be a PCI or PC-104+ card, ADAM module or a built-in ring on

AMAX-2050KW, which is equipped with AMONet; the slave can be motion, DIO or
AIO modules. RJ-45 LAN cable can be used for AMONet communication and the
corresponding pin assignment is shown in Figure 3 -26.
Figure 3-26 AMONet pin assignmnet
According to the testing report, if users would like to connect up to 64 salve
modules in one ring shown in Figure 3 -27, the maximum distance could be 100m at
a speed of 10MHz.
Figure 3-27 Connection diagram
Another important thing users have to pay attention to is terminal resistor. If
more than one slave modules are connected in one ring, it is necessary to add the

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terminal resistor in the last slave module to make sure the quality of communication.
About the switch setting, please see in Figure 3 -28.
Figure 3-28 SW1 and SW3 Switch setting
Due to the modularization of Advantech slave devices, it is more flexible for
users to deal with space issues, especially in large machine automation application.
Besides, there is one thing users need to note in relation to the decentralized motion
control system, that is the detection of communication failure. It is imperative to
become aware of disconnection caused by LAN cables (e.g., bad contact or broken) or
software programs (e.g., bugs). This feature in AMONet is called watchdog timer.
For more detail information, users can refer to the AMONet User Manual to know
how to ues it.

3.3 Product Selection Guide
After the introduction of centralized and decentralized motion control systems,
users should be able to realize the features of and the differences between these two
motion systems. Now, lets move on to Advantech motion-related product selection.
Roughly, the selection guide shown in Figure 3 -29 can be separated into two parts -
centralized and decentralized motion control systems.
Figure 3-29 Motion system structure
For the centralized solution, Advantech provides motion control cards, encoder
cards, and wiring boards which are listed in Table 3 -1. The customer can refer to this
table and choose proper products to meet their needs. The most popular motion
control card is PCI-1240U which is able to control stepping and servo motors through

References37
pulse commands. It will be introduced in section 3.3.1.
Table 3-1 Advantech centralized motion control system solution

Motion Control Cards
PCI-1240U 4-axis Universal PCI Stepping/ P-type Servo Motor Control
PCM-3240 4-axis PC/104 Stepping/ P-type Servo Motor Control
PCI-1241* 4-axis PCI Stepping/ P-type & V-type Servo Motor Control
PCI-1242* 4-axis PCI Stepping/ P-type Servo Motor Control
PCI-1243* 4-axis Universal PCI Low Cost Stepping Motor Control
PCL-839+ 3-axis ISA Stepping Motor Control
Encoder Cards
PCI-1784U 4-axis Universal PCI Quadrature Encoder and Counter
PCL-833 3-axis Quadrature Encoder and Counter
Wiring Board
ADAM-3952 series PCI-1240U/PCM-3240 Wiring Terminal
(General, Mitsubishi J2S, Panasonic Minas A)
ADAM-3943* PCI-1243U Wiring Board with LED
Note: * means old products
For the decentralized solution, Advantech offers a variety of master controllers
and slave modules as well, please refer to Table 3 -2 for details.
Table 3-2 Advantech decentralized motion control system solution

AMONet Master Controller
PCI-1202U 2-port Universal PCI AMONet Master
PCM-3202P 2-port PC/104+ AMONet Master
AMAX-2050KW GX2-400 PC with AMONet Interface (1-port)
ADAM-5202 2-port ADAM AMONet Master
AMONet Motion Slave Module
AMAX-221X 1-axis Servo Motor Control
AMAX-224X 4-axis Servo Motor Control

AMONet Digital Input/Output Slave Module

AMAX-2730 8/8 ch Isolated Digital Input/Output AMONet Slave
AMAX-2750 series 32 ch Digital Input/Output AMONet Slave
AMONet Analog Input/Output Slave Module
AMAX-2710 12-bit 100kS/s 16-ch AI, 4-ch AO AMONet Slave
In terms of the naming rule of AMAX modules, it is a little bit complicated and
confused. The below table (see Figure 3 -30) arranged by AE should be able to give
you a clear picture about the naming rule of AMAX modules.
Figure 3-30 Naming rule of AMAX modules
In Section 4.3, users will know how to build up the communication between the
master controller and slave modules by using AMONet Device Manager, please go to
Section 4.3 if you would like to learn it immediately. On the other hand, since this

References39
textbook is concerned with motion control, the DIO and AIO functions of slave
modules will not be introduced here. If you are interested in this part, please refer to
the textbook of Remote I/O for further understandings.
3.4 Centralized vs. Decentralized
In this section, the comparison between centralized and decentralized motion
control systems is made and shown in Table 3 -3.
Table 3-3 Comparison between centralized and decentralized

Centralized Decentralized
Operation System Windows 2000/XP, WinCE Windows 2000/XP, WinCE
Distance limitation 3-5m Up to 64 slave modules,
100m at a speed of 10MHz
Supported software Microsoft visual studio Microsoft visual studio,
Multiprog KW Multiprog KW
Throughput rate PCI bus and ISA bus speed Max. 20 MHz
Max supported axes Max. 64 axes in one type of card Max. 256 axes in one ring
Supported motor type Stepping and servo motors Stepping and servo motors
Control signal type Pulse, voltage Pulse
The major difference between these two systems is distance issue. For
centralized motion control system, the length of cable could be limited to 3-5m.
Accordingly, the space for computers/wiring boards and the size of entire motion
system need to be taken into account before planning and implementing. For

decentralized motion control system, motion modules can be installed far away from
the main computer or controller. Under such situation, the implementation of wiring
becomes easy and convenient, the arrangement of space in the whole motion control
system turns into flexible. Thats the main reason why the decentralized motion
control system emerges so fast in recent years.
3.5 Quiz
1. How many slave modules can an AMONET master ring connect up to? And
what is the maximal distance the decentralized motion solution can support?
2. If a user would like to install a lot of AMAX slave modules, what should be
noticed? Please specify them.
3. What should the transmission rate be if users adopt the maximal number of
AMAX slave modules with the maximal communication distance?
4. Suppose that a user tends to control 6 motors with 8 encoder feedback signals.
Please base on following products to come out a solution to meet above need.
PCI- 1240U: 4-axis servo motor control card
PCI-1243U: 4-axis stepping motor control card
PCI-1784U: 4-axis encoder card
5. According to the naming rule of AMAX modules, please try to explain what
AMAX-2242 mean.
6. If a user prefers to control the servo motor in velocity mode, what kind of
Advantech product is more suitable?
7. Suppose that a user just wants a PCI card with the function of encoder feedback
only. What products do you recommend?

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8. Imagine to insert one motion control card into UNO-2170 so as to save space.
What motion card offed by Advantech could be a good choice in such context?
9. What AMAX slave modules can measure analog signal and output voltage?
10. Please specify the AMONet protocol.

Chapter 4 Getting Started
Nowadays, with the growth of technology, the speed of PC is getting faster and
faster. For this reason, there are more and more users use PC to be the master to
control one motion control system. For this advantage of graphic unit interface (GUI)
in PC, the operator can easy to know how to use the system through GUI Microsoft
Visual Studio, Borland C++ Builder, Delphi, and etc. in later sections, startup of
centralized motion control system, startup of Decentralized motion control system,
and how to use Advantech motion modules in Utility will be introduced.
4.1 Centralized Motion Control System
In this section, the steps of PCI-1240 utility will be introduced. Through these
following steps, users will be familiar with using PCI-1240U.
1. The centralized motion control system is shown in Figure 4 -31. For more
detailed information about pins wiring, please refer to the hardware manual.

References43
Figure 4-31 Centralized motion control system
2. Please download the latest driver of PCI-1240U on the website
http://support.advantech.com.tw/support/default.asp. On the webpage, the user
will see PCI-1240.zip file which driver and utility are included is shown in
Figure 4 -32.
Figure 4-32 PCI-1240 driver and utility download website
3. After the installation, the software and PCI-1240 utility can be found at

StartProgramsAdvantech AutomationMotionPCI-1240.
4. Open PCI-1240 Utility which is shown in Figure 4 -33. It helps users to test its
installation and functionality. Also most of these settings can be done in the tool.
Figure 4-33 PCI-1240 Utility
5. Select Board ID first by Board Selection button, and the Board ID
configuration is decided on the card. It is shown in Figure 4 -34.

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Figure 4-34 Board selection and PCI-1240U hardware Board ID configuration
6. Set parameter by clicking Parameter Setting, the Group 1 is for pulse output
configuration which is shown in Figure 4 -35. In this setting, user can configure
the pulse output type, acceleration mode, drive speed parameter, and etc.

Figure 4-35 Pulse output setting
7. Group 2 is for hardware input signal setting which is shown in Figure 4 -36. The
most important thing about group 2 setting is the alarm signal. If the alarm signal
is active, the servo driver will have alarm so that the motor will not move by any
command.

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Figure 4-36 Hardware input signal setting
8. Group 3 is for the function of input and output pin configuration which is shown
in Figure 4 -37.

Figure 4-37 The function of input and output pin configuration
If some users would like to use compare function, the operation mode of output
must be configured to Driver Status Indicator . The hardware configuration of the
compare output pin OUT4 and OUT5 are listed in Table 4 -4.
Table 4-4 Jumper setting of JP10
Jumper JP10
The XOUT4 is defined as the pulse output XOUT4, Pin1 and Pin 2 short (Default)
channel for the incremental position compare
mechanism. And its open collector type output.
Its a design only for PCI-1240U. The position CMP, Pin2 and Pin 3 short
compare signal for both directions will output
from XOUT4, and the output level of XOUT4 is
TTL level.

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9. Group4 is for encoder, software limit, and compare setting which is shown in
Figure 4 -38. The user also can set interrupt for many situations. In the encoder
setting, AB phase 1/1 Mode means 4X AB phase encoder mode.
Figure 4-38 Encoder, software limit and compare setting
10. Group 5 is home mode setting which is shown in Figure 4 -39. There are totally
7 homing types we can select. And the detailed information about each homing
type can be found in the PCI-1240U software manual.

Figure 4-39 Home mode setting
11. After the settings in the utility are done, the settings will be saved to registry
which is shown in Figure 4 -40. The user could export the registry to a file and
import it to other PC. Therefore, the configuration will be easy to get and
configure on other PC.

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Figure 4-40 Registry of PCI-1240 configuration
12. Click Input Status button in the PCI-1240 Utility, there will be indicators and
statuses shown in Figure 4 -41. PCI-1240U provides 4 digital output channels
for each axis. But its not limited, so users can only use 1 axis and all 16 DO
channels at the same time. If the user wants to use one of the DO to do the servo
on, OUT6 of each axis is recommended. The status of digital input channels is
displayed in the Input Status. Among them, IN0 and IN3 are used for homing.
The external hardware signals for homing must be connected to these two pins.
In the bottom of the Input Status is the counter value, including the command
counter and the encoder feedback counter. Both values can be edited. The
compare value is also shown in it.

Figure 4-41 Input Status
Through the Drive End Status indicator, users can monitor the statuses of limit
switch, alarm, emergency. The emergency pin EMG, is an important function in
motion control application. The hardware setting is shown in Figure 4 -42, and it is

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always used to be a button on machine to let the operator stop the motor immediately
for emergency situation.
Figure 4-42 EMG Pin on PCI-1240U
13. Click Operation button and the operation is shown as Figure 4 -43. After
configuration and check the input status, users can try to control the motor to
move by following steps:
a. Choose operation axes
b. Select the drive mode
c. Configure the drive speed or end position which depends on the drive mode
is set
d. Click start button
If users want to test the advanced functions such as linear interpolation and arc
interpolation, the utility is also supported. For more detail information about the
interpolation parameter setting please refer to the PCI-1240U software manual.

Figure 4-43 Operation window
14. Profile Monitor button can help users to monitor two axes moving on the map
and it is shown in Figure 4 -44. Users can know the path of the axes motion
through monitoring the map. With the help of Profile Monitor, the locus can be
checked by plotting a two-axis profile. In this tool, any two of the four axes in
the same card can be selected to be traced. Also, the speed profile can be

References55
checked. Please note that the path is just for reference, the real path will depend
on the gear ratio, mechanism design, and etc.
Figure 4-44 Profile monitor
After the steps, users should know the basic function of PCI-1240 Utility. For

advanced functions, they will be introduced in section.
4.2 Practice for Centralized System
In this section, there will be some hands on practices for centralized and motion
control system. After these examples are done, the customer can learn more
experience for using Advantech motion products.
Use point to point function in PCI-1240 Utility such that the motor in X-axis
will move from position 0 pulse to position 10000 pulses in relative
coordinate.
1. Open the PCI-1240 Utility which is at StartProgramsAdvantech
AutomationMotionPCI-1240.
2. Check if the parameter setting which is shown in Figure 4 -45 is compatible
with the hardware setting in servo driver. About the servo driver setting, please
refer the hardware manual for it.

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Figure 4-45 Parameter setting in PCI-1240 Utility
3. Make sure the signal is OK in Input Status window especially EMG and ALM
indicator and enable OUT6 of X-axis. (see Figure 4 -46)

4. Click operation button, select X-axis, set point to point mode, and set the end
point to 10000. Remember that the movement mode should be set as relative
mode. (see Figure 4 -47)

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5. Click start button and the value of logical counter and feedback counter on the
input status window will be to 10000, the error will be 0. (see Figure 4 -48)

Figure 4-48 Position command and encoder feedback value
6. If the values of logical counter and real counter are not the same, please check if
the parameter setting is right again.
Use arc interpolation to let 2-axis motor move as a circle in PCI-1240 Utility
which center is (3000, 3000) and the end point is (6000, 6000) in the relative
coordinate.
1. Open the PCI-1240 Utility which is at StartProgramsAdvantech
AutomationMotionPCI-1240.

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2. Check if the parameter setting which is shown in Figure 4 -49 is compatible
with the hardware setting in servo driver. About the servo driver setting, please
refer the hardware manual for it.
Figure 4-49 Parameter setting in PCI-1240 Utility
3. Make sure the signal is OK in Input Status window especially EMG and ALM
indicator and enable OUT6 of X-axis and Y-Axis. (see Figure 4 -49)

4. Click operation button, select X-axis and Y-axis, set arc profile drive mode, set
C1, C2 to 3000, and set E1, E2 to 6000. Remember that the movement mode
should be set as relative mode. (see Figure 4 -51)

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5. Click start button and the input status window will show the counter value. (see
Figure 4 -52)

Figure 4-52 Input status window
6. The customer also can open the profile monitor to see the locus of two-axis
motion. (see Figure 4 -53) Users can configure the display parameter setting to
feed the suitable scale in two-axis coordinate.

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Figure 4-53 Profile monitor
4.3 Decentralized Motion Control System
In Decentralized motion control system, master and slave is needed. In this
section, AMONet Device Manager Utility will be introduced and users can learn how
to use this utility in following steps:
1. The Decentralized motion control system diagram is shown in Figure 4 -54. For
more detailed information about pins wiring, please refer to the hardware
manual.

Figure 4-54 Decentralized motion control system diagram
2. Please download the latest driver of PCI-1202U on the website
http://support.advantech.com.tw/support/DownloadSRDetail.aspx?SR_ID=1-
1W8JTJ. On the webpage, the user will see AMONetDriver.zip file which
driver and utility are included is shown in Figure 4 -55. PCI-1202.exe file is
only for old version of PCI-1202.

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Figure 4-55 PCI-1202U driver and utility download website
3. After the installation, the software and AMONet Device Manager utility can be
found at StartProgramsAdvantech AutomationAMONet Device Manager.
4. Open AMONet Device Manager which is shown in Figure 4 -56. Users will see
PCI-1202(X) master card and X means the board ID which range is 0~15.

Figure 4-56 AMONet Device Manager utility and hardware configuration of PCI-
1202U
5. Select PCI-1202U, baudrate setting and onboard DIO control will be shown as
Figure 4 -57. Please remember that the baudrate setting must be the same as the
slave modules.

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Figure 4-57 Baudrate setting and onboard DIO control
6. Spread PCI-1202U and slave modules connected to master will be shown. Please
refer to Figure 4 -58, PCI-1202U has two rings and each ring could connect up
to 64 slave modules. Device IP is needed to distinguish each slave module.
Figure 4-58 AMONet Device Manager utility
7. For DIO slave modules shown in Figure 4 -59, the operation is very simple.
Users just check the LEDs of DI to know the status and clicking DOs to control
them.

Figure 4-59 DIO slave modules
8. For motion slave modules shown in Figure 4 -60, it could be separated in several
parts.
Figure 4-60 AMONet Device Manager utility

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About the configuration and information of these parts will be described below.
a. Velocity Profile: to configure the distance, driving speed, acceleration, and
etc.
b. Speed Pattern: to decide the mode of Acc/Dec and there are T curve and S
curve mode to choose.
c. Configuration: it contains home mode setting, motion IO setting, and pulse
setting which are shown in Figure 4 -61, Figure 4 -62, and Figure 4 -63.
There are 13 modes for home mode setting, and users can refer to the
AMONet User Manual to know about the operation principle about homing.
Figure 4-61 Home mode setting

Figure 4-62 Motion IO setting
Figure 4-63 Pulse input/output mode setting
d. Motion Test: it contains move button, stop button, reset alarm (RALM), and
error counter clear (ERC). Users can control the motors through these
buttons
e. Position: through this frame, users can obtain the position command,
encoder feedback, and error. Due to the utility design, the range of error is
32768~32767.
f. Status: there are many indicators to let the users know the status about

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motion slave modules.
About the definition of Abbreviations are listed in Table 4 -5.
Table 4-5 Definitions of Abbreviations

PCS Position Change Signal input (not supported at present)
EL End Limit, indicates the limit of motion in plus direction or minus direction
ORG Home signal input, indicates the origin of the system
SD Ramp-Down Signal Input
ALM Servo Alarm Signal
INP Servo In Position Signal
RDY Servo Ready Signal
LTC Position Latch Signal Input
EMG Emergency Stop Signal
ERC Clear Servo Error Counter Signal Output
RALM Reset the ALM status inside the servo driver
OUT Pulse Signal Output
EA Encode A Phase
EB Encode B Phase
EZ Encode Z phase
DIR Direction Signal Output
CMP Position Compare Output
9. Users also can use this utility to check the velocity profile shown in and know
get the speed curve of any movement.

Figure 4-64 Velocity profile monitor dialog
10. For advanced function of interpolation, only AMAX-224X slave modules are
supported. Users can select Multi-Axis Operation for linear and arc interpolation
and monitor the locus of two-axis motion. The GUI is shown in Figure 4 -65.

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Figure 4-65 Advanced function of AMONet Device Manager utility
After going through these steps, users can roughly know the operation of

Decentralized motion control system in Advantech.
4.4 Pratice for Decentralized System
In this section, there will be some hands on practices for Decentralized motion
control system. After these examples are done, the customer can learn more
experience for using Advantech motion products.
Use point to point function in AMONet Device Utility such that the motor
will move from position 0 pulse to position 10000 pulses in relative
coordinate.
1. Open AMONet Device Manager Utility which can be found at
StartProgramsAdvantech AutomationAMONet Device Manager.
2. Select the motion slave module. In this example, AMAX-224X slave modules is
used. (see Figure 4 -66)

References77
Figure 4-66 AMONet Device Manager Utility
3. Select the Single-Axis Operation tab window and configure motion IO and
input/output pulse type in configuration part to let all indicators to the normal
state. For the status definition, please refer to the software manual and hardware
manual. (see Figure 4 -67)

Figure 4-67 Configuration
4. Set move mode to P to P and distance to 10000 pulses. After settling done,
please remember to click Set parameters button to download these settings to
AMAX slave module.
5. Click right arrow button and the motor will move 10000 pulses in clockwise
direction. Users also can see the command value and feedback value will be
10000.

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Figure 4-68 Point to point move
6. If there is error counter, please make sure the pulse configuration is the same as
the setting in servo driver.
Use arc interpolation to let 2-axis motor move as a circle in AMONet Device
Utility which center is (3000, 3000) and the end point is (6000, 6000) in
relative coordinate.
1. Open AMONet Device Manager Utility which can be found at
StartProgramsAdvantech AutomationAMONet Device Manager.

2. Select the motion slave module. In this example, AMAX-224X slave modules is
used. (see Figure 4 -69)
Figure 4-69 AMONet Device Manager Utility
3. Select the Single-Axis Operation tab window and configure motion IO and
input/output pulse type in configuration part to let all indicators to the normal
state. For the status definition, please refer to the software manual and hardware
manual. Since X and Y axes are needed, please remember to configure both axes
in this operation window. (see Figure 4 -70)

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Figure 4-70 Configuration
4. After making sure two axes can work well, select the tab to Multi-Axes
Operation window.
5. Configure C1, C2 to 3000, E1, E2 to 6000, and click Arc button and the motors
will move to a half circle. (see Figure 4 -71)

Figure 4-71 Arc interpolation
6. Users can click path plot button to monitor the locus of axes motion which is
shown in Figure 4 -72.

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Figure 4-72 Path plot monitor
If there is error counter, please make sure the pulse configuration is the same as
the setting in servo driver.
4.5 Hands on Exams
1. Please use AMAX-2212 to do continuous moving in both directions.
2. Please use PCI-1240U to do continuous moving in both directions.
3. Please modify the setting of AMAX-2212 to make the motor move with the
speed of 4500 PPS.

4. Please use PCI-1240U to control motors to move as a circle which center point is
(10000, 0) in relative coordinate.
5. Please us AMAX-2242 to control motors to move to the target point (40000,
30000) in relative coordinate.
6. Please use PCI-1240U to change the speed to 20000 PPS on the fly. (X-axis
motor)
7. Please try to use AMAX-2242 to draw a locus as shown below with linear
interpolation and circular interpolation. (Use AMONet Device Manager rather
than examples)

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Chapter 5 Software Introduction
(Advanced)
In this chapter, the supported softwareMicrosoft Visual Studio, Nation
Instrument Labview software for centralized motion control system, KW Multiprog,
and SCADA software will be introduced. After going through this chapter, the users
can know the programming method with DLL driver and KW DLL driver.
Furthermore, a project can be created by some specific applications by themselves.
5.1 Programming Introduction
After introducing the startup of centralized and Decentralized motion control
systems, supposed that the users already know the based knowledge about the motion
control and can test the motors by Advantech motion utility. In advance, if they want
to develop their own program for the specific application, the way to know how to
develop the program by Advantech driver is necessary. For some users, they usually
use the PLC by ladder language to control the motors for their application. For such
application, PAC based controller which follows the IEC-61131-3 protocol can be

References87
compatible with PLC. For other users, Advantech provides the DLL drivers which
support VB, VC++, BCB, Delphi, C#, VB.Net software. Advantech also provides the
library for Win CE so that the customers can develop the applications by EVC or .Net
programming software. In later sections, the programming of Microsoft Visual Studio,
Labview for centralized motion control system, and KW Multiprog will be
introduced.
5.2 Microsoft Visual Studio Introduction
In this section, the DLL programming for centralized and Decentralized motion
control system will be introduced.
5.2.1 DLL Programming for Centralized System
When the PCI-1240U driver is installed, the examples for PCI-1240U can be
found at the path: C:\Program Files\Advantech\Motion\PCI-1240\Examples. It
supports Borland C++ Builder, Delphi, Visual Basic 6.0, Visual C++ 6.0, and VS.Net.
In this section, the introduction of centralized DLL programming will be based on
Visual Basic 6.0 language since it is quite easy to let the users to understand the
programming. By the way, it is better to test motors in the PCI-1240 Utility first when

starting using motion examples.
When entering the VB folder, there will be four examples: BasicDrv,
CompTable, ContinueDrv, and RegisterFunc. Before introducing these examples,
knowing the flow chart of programming is very important. First of all, open the PCI-
1240U software manual and find the tutorial which is shown in Figure 5 -73.
Figure 5-73 PCI-1240U software manual
For example, for point to point movingbasic function, the flow chart is shown
in Figure 5 -74.

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Figure 5-74 PTP flow chart
There are four steps to complete the PTP motion and the first step
P1240MotDevOpenand the last step P1240MotDevClose are necessary. These
two API function are shown in Figure 5 -75.

Figure 5-75 API function
After open PCI-1240U, some parameters must be set. Users can use
P1240MotAxisParaSet for parameter configuration and the function is shown in
Figure 5 -76.

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Figure 5-76 P1240MotAxisParaSet
If users want to set the parameters of line or arc interpolation, just change the
value of bySetAxis parameter to 0. After configuring the parameters of Axes, PTP

moving can be used. For the PTP motion, there are three kinds of APIs to support this
moving action. It is listed in Table 5 -6.
Table 5-6 Point to Point motion

P1240MotPtp Force the assigned axis from current position to new position, for each axis
will move by their own speed parameters.
P1240MoveAbs Move one axis in absolute mode.
P1240MoveIns Move one axis in relative mode.
The mostly used one of the three PTP motion is P1240MotPtp, and its
description is shown in Figure 5 -77.

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Figure 5-77 P1240MotPtp
Another important API function shown in Figure 5 -78 is P1240MotStop. This
function can stop the motor immediately or slow down the motor then stop.

Figure 5-78 P1240MotStop
Assuming the users already know the operation principle of PCI-1240U after
seeing the flow chart of Point to Point moving, below the example BasicDrv will be
introduced.
First of all, open the example and go to the form1 window and there will be the
main window for moving operation, it is shown in Figure 5 -79.

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Figure 5-79 BasicDrv example
Some specific functions For PCI-1240U in the main window form will be
introduced below.
Select Board list:
The board ID of PCI-1240U is decided by the DIP switch on the

PCI-1240U.
Open Board button:
APIs P1240MotDevOpen, P1240MotAxisParaSet,

P1240MotRdMutiReg are used.
The API function P1240MotRdMutiReg can read many parameters like initial
speed, driving speed, acceleration, logical position counter, and etc. For the RRn and
WRn parameter of P1240MotRdMutiReg API function, users can refer to the MCX-
314 motion control IC manual to know the register definition.

Servo On button:
APIs P1240MotWrReg and P1240MotWrReg are used.
The API function of P1240MotWrReg is almost the same as that of
P1240MotWrReg. It is just write register and read register difference.
Close Board button:
P1240MotDevClose: close the specified PCI-1240U
Stop Button:
P1240MotStop: stop the motors immediately or slow down the

motors then stop
Single Axis Motion frame:
APIs P1240MotPtp, P1240MotCmove, and

P1240MotHome are used.
The API function P1240MotCmove is used to control the motors move
continuously in clockwise or counter clockwise direction. The detailed description is

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Figure 5-80 P1240MotCmove
The API P1240MotHome is used to control the motors to find the home sensor.
About the homing function, PCI-1240U supports totally 7 home types which are

Figure 5-81 P1240MotHome
Interpolation frame:
APIs P1240MotLine and P1240MotArcTheta are used.
In this frame, if the selected axes are less than 2 axes, the operation will be
inhibited. The API function P1240MotLine is used to control the 2 or 3 axis motors to
do line interpolation and its description is shown in Figure 5 -82. This API can be set
motors to move in absolute or relative coordinate.

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Figure 5-82 P1240MotLine
P1240MotArcTheta is used to control 2 axis motors to move arc interpolation.
The description and detailed information is shown in Figure 5 -83.

Figure 5-83 P1240MotArcTheta
Timer Component:

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P1240MotRdMutiReg: read the logical position counter and driving

speed periodically
After viewing these functions in the BasicDrv example, users will know the
operation process of the DLL programming more clearly.
Another advanced example is ContinueDrv which is used to control the motors
to move a path including line and arc interpolation. Users also can refer to the flow
chart in the PCI-1240 manual.

Figure 5-84 Flow chart and application window of Continue Move
Before moving a path, allocate and initial the path data buffer is needed. Users
can use the API P1240InitialContiBuf to allocate memory for path data and the
description of this API function is shown in Figure 5 -85.

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Figure 5-85 P1240InitialContiBuf
The size of the path data buffer depends on the PC memory and can be set up to
232 32 bytes. Normally it is enough to use. After allocating the buffer, users can use
P1240SetContiData to put the path data to the path data buffer for movement. When
moving the path, users can get the current movement path data sequence number
through P1240GetCurContiNum to know the process. The description is shown in
Figure 5 -86.

Figure 5-86 P1240GetCurContiNum
After completing every moving in the desired path, please remember to use API
P1240FreeContiBuf to release the memory.
There are still a lot of programming flow chart and examples for PCI-1240U.
Users can refer to the PCI-1240 manual to know more about this card. If there are still
any problems about programming, please call the service center: 0800-557-799. There
will be application engineers to solve your problems.
5.2.2 DLL Programming for Decentralized System
After installing the AMONet Device Manager, the examples for AMAX series
modules can be found at the path: C:\Program Files\Advantech\AMONet\Examples. It
supports Borland C++ Builder, Delphi, Visual Basic 6.0, Visual C++ 6.0, and VS.Net.
In this section, the introduction of Decentralized DLL programming will be based on

References105
Visual Basic 6.0 language since it is quite easy to let the users to understand the
programming. By the way, it is better to test motors in the AMONet Device Manager
first when starting using motion examples.
The operation principle between PCI-1240 and AMONet is totally different. For
this reason, DLL programming of Decentralized motion system will be not the same
as that of centralized motion system. In this section, DLL programming on PCI-
1202U will be introduced and step by step to describe the motion functions in more
detail.
The PCI-1202U is a Standard AMONet PCI-Bus Interface Master Card. There
are two NPMG9001A chips on board. Each chip controls one ring.
Figure 5-87 PCI-1202U
First of all, open the master card PCI-1202U and start ring. The flow chart is
shown in Figure 5 -88. Note that in the below calling flow, _1202_open can only
be used by PCI-1202U. For other devices, the function is substituted by
_mnet_initial (which also supports PCI-1202U).

Figure 5-88 Open master card and start ring
When opening the example, there will be two buttons which are shown below to
represent open card and start ring.
Open and initial master card
Start ring
After these two configurations, slave IO modules such as AMAX-2750 series
and AMAX-2710, it can be controlled. But for slave motion modules, like AMAX-
2240 series, users must use Axis Init button shown below to configure the motion
modules.

References107
Make sure the configuration is done and then click SVON button to let the servo
motor servo on.
Next, set a trapezoidal velocity and S-curve velocity profile by clicking Set
speed button.

The STOP button is used to control the motor slow down to stop.
ERC (clear servo error counter signal output) and RALM (reset the ALM
status inside the servo driver) buttons are for specific application.
After introducing the essential API functions in all examples, below the
examples for AMAX-2240 series slave motion modules will be described. The basic
example AMAX2240_Motion is used to control one axis to do continuous moving.

References109
The form is shown in Figure 5 -89.
Figure 5-89 AMAX2240_Motion
The arrow buttons control the direction of the motor moving and the code of
Visual Basic is shown below.
The Advanced example, AMAX2240_Motion_Path, uses the memory of the

AMAX-2240 to plan the path. The form window is shown in Figure 5 -90.
Figure 5-90 AMAX2240_Motion_Path
The _mnet_m4_set_fw_memory function will be used.

References111
Figure 5-91 Firmware setting
Set Speed Profile button sets a T-Curve or S-Curve velocity profile for path
buffer movement. In the same path move, T-Curve and S-Curve path function cannot
be executed in turn.

Set Line Data and Set Arc Data buttons can be set the line and arc data to the
path buffer. Users choose the performed axes and related function, e.g. if selecting XY
plane, only those related axes functions can be adopted. The path buffer can store
1000 paths (from 0 to 999) and it acts like a First In First Out (FIFO). Users can check
current values and buffer status using the function
_mnet_m4_get_path_status.Path buffer is designed as a ring-buffer. Once
AMAX-224x finish one path, the space in Path buffer will be released. The user
can keep pushing new path commands into AMAX-224x when
FreeSpaceCount(Note1) > 1. In the same path motion, all the executed-Axis is
fixed by first path command. For example, The first path command uses both the X-
axis and Y-axis, then the following path command can use X-axis and Y-axis only.

References113
The freespacecount is read by _mnet_m4_get_path_status API function which is
defined in Figure 5 -92. In the DLL programming, timer component is usually used to
monitor the path status.
Figure 5-92 Get path status
When path data is settle done, users can click Start path to start motor motion.

For Decentralized motion system, users worry about the quality of
communication. If there are some disturbances such as LAN cable disconnect and
noise, it will cause the communication error. For this purpose, AMONet protocol has
the watch dog function to monitor the status of communication. Advantech provides
the WatchDog example which is shown in Figure 5 -93 that can protect the
machine from damaging because of communication error.
Figure 5-93 WatchDog example

References115
_mnet_set_ring_quality_param API function is to set the ring's continue error
and error rate. Please see below.
Name Type Description

RingNo U16 Ring number. Each ring of the master device is assigned an exclusive
ring number.
ContinueErr U16 Range 1~0xffff
ErrRate U16 Error counter per 1k rounds
_mnet_get_com_status API function is used to monitor the communication
status. There are four statuses shown below.
Name Description
ERROR_NoError The API returns success
ERROR_Invalid_Ring Make sure the Ring is active
Return Value Communication Status

Value Meaning
00 Ring disconnected
01 Ring connect
02 Slave error
03 Ring is stopped
Before the watchdog in the ring is triggered, a communication error will occur. After
meeting special conditions, (defined by the function mnet_set_ring_quality_param,)
the watchdog will be triggered. To find the slave module which suffered a
communication error and caused communications to fail, we can use the
mnet_get_error_device. function. This function returns the ID number of the slave
module that triggers the watchdog. The programmer should pay attention to two

things. mnet_get_error_device should be used when a communication error occurs.
We can use the function mnet_get_com_status to know whether theres error in the
ring. When it returns Slave Error, we can then use the mnet_get_error_device
function to find the module that is having a communication error.
The function mnet_get_error_device only returns the smallest slave ID number
among all slave modules that have suffered communication errors. For instance,
consider the following four configurations where three AMONet slave modules,
having slave IDs 4, 5 and 6, are connected in one ring.
A. The connection is Master ID=4 ID=5 ID=6.
When ID=4 has communication error, mnet_get_error_device returns 4.
B. The connection is Master ID=5 ID=6 ID=4.
C. The connection is Master ID=5 ID=4 ID=6.
D. The connection is Master ID=4 ID=6 ID=5.

References117
Therefore, to make sure which device has the communication error, connect the
AMAX slave modules in device IP turn is very important.
There are still a lot of API functions not introduced. Users can refer to the
AMONet Drivers Manual to see what function they want to use or call the service
center to ask help.
5.3 Labview for Centralized Motion Control
There are many users using Labview to develop their applications. For this
reason, Advantech also develop the Labview driver for PCI-1240U. This driver can be
downloaded in the Advantech website.
After installing it, the examples can be found at the path: C:\Program
Files\National Instruments\LabVIEW 8.X\examples\Advantech Motion. The example
ContiDrive which is used to control the motors moving by path planning is shown
in Figure 5 -94.

Figure 5-94 ContiDrive example
The operation principle between the DLL programming and Labview in
Centralized motion system is almost the same. For example, the flow chart of

References119
continue move shown in Figure 5 -95 is the same as that in DLL programming. Users
can refer to the programming tutorial in Advantech Motion Vis Labview Manual to
develop their own program.
Figure 5-95 Continue move flow chart
Through this Labview driver for centralized motion control system, users can
develop their applications in Labview more conveniently.

5.4 Introduction of MultiProg KW
MultiProg KW, one kind of software, is used to develop the PAC programming.
PAC stands for Programmable Automation Controller, and it combines the features of
PC and PLC. Therefore, users can use PAC to do many applications. It can do the
complicated calculation and can combine the SCADA software to do more convenient
and friendly graphic unit interface.
PAC also follows IEC-61131-3 protocol which defines the protocol of the
software and hardware in PLC. For this advantage, users can replace PLC by PAC
without learning a new programming tool. IEC-61131-3 supports five languages. In
this textbook, only function blocks of motion in MultiProg KW will be introduced. If
users are interested in the this software, please refer to PAC textbook and there will be
more information and advanced function to be introduced.
5.5 Multiprog KW Programming of Motion
In this section, the Multiprog KW programming in motion system will be
introduced.

References121
5.5.1 Basic Configuration of Multiprog KW
Figure 5 -96 shows the PAC solution in Advantech.
Figure 5-96 PAC solution
AMAX-2050KW, the most popular master controller in PAC motion control, has
WinCE operating system and can be developed the motion applications in KW. For
this reason, many users utilize it to implement the Decentralized motion system by not
only WinCE programming but also Multiprog KW. This section will focus on how to
develop the KW program using AMAX-2050KW master controller and AMAX slave
motion modules.
First of all, create a new project for WinCE system like below.

Figure 5-97 Create a project
Double click Advantech_DAQ and add the motion module AMAX-2240.

References123
Figure 5-98 Add AMAX motion module (1)
Configure the AMAX-2240 and set baud rate which is compatible with the
hardware setting. The Board ID should be also the same as the Device IP of AMAX
slave modules which range is from 0 to 63.

Figure 5-99 Add AMAX motion module (1)
Configure the axis settings such as pulse output mode, pulse input, alarm input,
and etc.

References125
Figure 5-100 configuration
If for DIO and AIO modules, remember to click Create All Input Variables
button to generate the global variables.

Figure 5-101 AMAX I/O slave modules
After creating the new project and configuring the AMAX slave modules, users
can connect the PC and AMAX-2050KW through Ethernet and the setting is shown in
Figure 5 -102. When the state on Project Control Dialog is on, it means the KW on
PC connects the ProConOS on AMAX-2050KW. For more detail setting and
functions, users can refer to the PAC textbook.

References127
Figure 5-102 Use DLL and set the AMAX-2050KW IP address
5.5.2 Motion Function Introduction of Multiprog KW
The following diagram shown in Figure 5 -103 defines the behavior of the axis
when multiple motion control function blocks are simultaneously activated.

Figure 5-103 Axis state diagram
This combination of motion profiles is useful in building a more complicated
profile to handle exceptions within a program. The basic rule is that motion
commands are always taken sequentially, even if the PLC had the capability of real
parallel processing. These commands act on the axis state diagram. The axis is always
in one of the following states: Disabled, StandStill, Stopping, ErrorStop, Homing,
DiscreteMotion and ContinuousMotion. The state Disabled is the initial state of
each axis. In this state, any movement has no effect. Only if Enable of MC_Power is
TRUE, the state leads to StnadStill without any axis error. Otherwise, the state leads
to ErrorStop. If Enable of MC_Power is FALSE, the state is transited to Disabled.

References129
During this period, there still exist some function blocks not finished. All of them are
aborted forcibly. The intention of the state ErrorStop is that the motion of the axis is
stopped. Once the state is transited to ErrorStop, all function blocks without
completion are aborted forcibly. New motion command is accepted until MC_Reset
has been done. MC_Stop aborts any motion command and change the state to
Stopping. The state Stopping is kept as long as Execute of MC_Stop is TRUE. In
this state, no another motion command can abort. The following administrative
function blocks have no effect on the state of the axis: MC_ReadParameter,
MC_ReadBoolParameter, MC_WriteParameter,
MC_ReadStatus,MC_ReadAxisError , MC_WriteBoolParameter, and
MC_ReadActualPosition. There are some notes listed below.
1. Enable of MC_Power is TRUE and there is no error
2. Enable of MC_Power is TRUE but there is an error
3. In both states ErrorStop and Stopping, any function block is not allowed to
be executed except MC_Power if Enable is FALSE
4. Done of MC_Stop is TRUE and Execute of MC_Stop is FALSE
Below I will introduce some basic motion functional blocks by one simple
example.
MC_Power_A1: This function block commands to control the power stage
(on/off). Whatever the motor type is, it should be enabled so that the motor can

do other motion action.
MC_Stop_A1: This function block commands a controlled motion stop. It can
abort any ongoing motion.
MC_Home_A1: This function block commands the axis to perform to search
home. The position is used to set the absolute position when the reference signal
is detected.
These graphical representations of the three function blocks are shown in Figure
5 -104. Please keep in mind that Enable pin means level active and Execute pin
means edge trigger active.
Figure 5-104 Graphical representations
MC_Read_Status_A1: This function block returns in detail the status of the
specified axis with respect to the motion currently in progress.
MC_ReadParameter_A1: This function block returns the value of a specified
parameter.

References131
The parameter number table is listed below.
Parameter Parameter Name Data Variable Read Description

Number Type Type /Write
1 CommandPosition REAL B R Command position
2 SWLimitPos REAL E R/W Positive software limit
switch position
3 SWLimitNeg REAL E R/W Negative software limit
switch position
4 EnableLimitPos BOOL E R/W Enable positive software
limit switch
5 EnableLimitNeg BOOL E R/W Enable negative software
limit switch
6 EnablePositionLagMonitoring BOOL E R/W Enable monitoring of
position lag
7 MaxPositionLag REAL E R/W Maximal position lag
8 MaxVelocitySystem REAL E R Maximal allowed
velocity of axis setting in
the driver dialog
9 MaxVelocityAppl REAL B R/W Maximal allowed
velocity of axis in the
application
10 ActualVelocity REAL B R Actual velocity
11 CommandVelocity REAL B R Command velocity
12 MaxAccelerationSystem REAL E R Maximal allowed
acceleration of axis
setting in the driver
dialog
13 MaxAccelerationAppl REAL E R/W Maximal allowed
acceleration of axis in the
application
14 MaxDecelerationSystem REAL E R Maximal allowed
deceleration of axis

setting in the driver

dialog
15 MaxDecelerationAppl REAL E R/W Maximal allowed
deceleration of axis in the
application
16 MaxJerk REAL E R/W Maximal allowed jerk of
axis in the application
MC_ReadActualPosition_A1: This function block returns the actual position.
These graphical representations of the three function blocks are shown in Figure 5
-105.
MC_MoveRelative_A1: This function block commands a controlled motion of a

References133
specified distance relative to the actual position at the time if execution.
MC_MoveAbsolute_A1: This function block commands a controlled motion to a
specified absolute position.
MC_MoveVelocity_A1: This function block commands a never ending
controlled motion at a specified velocity.
MC_MoveAdditive_A1: This function block commands a controlled motion of a
specified relative distance additional to the most recent commanded position in
the discrete motion. It is not allowed that the function block is actually executed
if axis state is ContinuousMotion.
These graphical representations of the four function blocks are shown in Figure 5
-106.

Using these function block which is introduced above, users can try to control
one axis motor for single moving.
5.5.3 Advanced Motion Function of Multiprog KW
In order to control multi-axis motor motion, advanced motion function blocks are
needed. In this section, multi-axis moving, advanced homing, and path planning
function blocks will be introduced.

References135
MC_StepAbsSwitch_A1: This function block performs a homing function by
searching for an absolute positioned external physical switch. When it is done,
the axis state is still in Homing, not transited to StandStill.
MC_FinishHoming_A1: This function block transfers the axis state from
Homing to StandStill without any movement.
MC_StepDirect_A1: This function block performs a static homing function by
directly forcing an actual position without physical motion. When it is done, the
axis state is transited from Homing to StandStill.
MC_StepRefPulse_A1: This function block performs a homing function by
searching for zero pulse in encoder. When it is done, the axis state is transited
from Homing to StandStill.
The example of advanced homing function blocks are shown in Figure 5 -107.
Figure 5-107 Advanced homing function
For line and arc interpolation, the relative function blocks are introduced below.
Note that if users want to use interpolation function, adding axes in one group is

necessary. First of all, adding and removing group function are listed below.
MC_AddAxisToGroup_A1: This function block adds one axis to a group. It has
actual effect only when the group is not busy.
MC_RemAxisFromGroup_A1: This function block removes one axis from a
group. It has actual effect only when the group is not busy.
MC_UngroupAllAxes_A1: This function block removes all axes from a group. It
has actual effect only when the group is not busy
Next, there are some function blocks can read the group status. It is listed below.
MC_GpReadStatus_A1: This function block returns status parameter of a group.
MC_GpReadActualPos_A1: This function block returns the actual position of a
group.
MC_GpReadActualVel_A1: This function block returns the actual position of a
group.
MC_GpReset_A1: This function block makes the transition from the state
GroupErrorStop to GroupStandBy by resetting all internal group-related errors.
MC_ReadGpError_A1: This function block describes general group errors
making state transfer to GroupErrorStop.
The example of adding axes in one group are shown in Figure 5 -108.

References137
Figure 5-108 Group function blocks
Third, after adding axes in one group, users can use line and arc interpolation
function blocks.
MC_MoveLinearAbs_A1: This function block commands an interpolated linear
movement to absolute end positions for each dimension.
MC_MoveLinearRel_A1: This function block commands an interpolated linear
movement to relative distances for each dimension.
MC_MoveDirectAbs_A1: This function block command a interpolated linear
motion to absolute end positions for each dimension without taking care of how
the position is reached.
MC_MoveDirectRel_A1: This function block Command a interpolated linear
motion to relative distances for each dimension without taking care of how the
position is reached.
MC_MoveCircleAbs_A1: This function block commands an interpolated circle
motion to absolute end position for each dimension.
MC_MoveCircleRel_A1: This function block commands an interpolated circle

motion to position for each dimension. The positions are defined relatively to the
according positions of the starting point.
MC_GpStop_A1: This function block commands a controlled motion stop and
transfers the axis group to the state GroupStopping. It aborts any ongoing
motion.
Here is a linear interpolation example shown in Figure 5 -109.
Figure 5-109 Linear interpolation
For the data type of the Distances pin, it should be set as an array. Users can
define the array in Data types like below.

References139
Figure 5-110 Array definition
The last one is path planning. Users can save the path data in the path editor and
then execute the path. The path data also can be exported to an Excel file.

Figure 5-111 Path editor
The multi axis motors will move by the path. The speed profile of the path only
has acceleration in the starting and deceleration in the end. It will maintain the
constant driving speed during moving.
MC_GpPathSelect_A1: This function block loads a path with specified path ID
(ID = 1 or 2).
MC_GpMovePath_A1: This function block commands a continuous
interpolation movement with specified path.

References141
After setting the path data, users just use two function blocks to move path.
Figure 5-112 Path planning function blocks
Another important function block which is mostly used in motion application is
TP function block.
Figure 5-113 TP function block
This function block can help users to do cyclic motion moving. Here is an
example shown below and it shows the way to control one axis motor moves CW to
CCW periodically.

Figure 5-114 cyclic moving example
For more detail description about every motion function block, users can refer to
the Advantech DAQ KW Driver Manual.
5.6 KW and SCADA Integration
After introducing the Multiprog KW, we can combine the Decentralized motion
control system and SCADA software to let operator easy to control the machine
through Graphic User Interface. Here is an example shown in Figure 5 -115. It
contains AMAX-2050KW, TPC-660E, EKI-2525P, AMAX-2242, and servo motors.
AMAX-2050KW is used to be the AMONet master controller and the ProConOS
server is included. TPC-660E is a touch panel computer and the SCADA software is
bundled. EKI-2525P is a 5-port Industrial Unmanaged PoE Ethernet Switch and
supports redundant power input. AMAX-2242 is a 4-axis AMONet RS-485 Motion
Slave Module for Mitsubishi MR-J2S and it is used to control two axes servo motors
in this application. I modify the KW program in my laptop and download it to the

References143
AMAX-2050KW and develop the SCADA program into the TPC-660E. the
Modbus/TCP protocol is used and EKI-2525P is used to communicate AMAX-
2050KW and TPC-660E through Ethernet.
Figure 5-115 Architecture of motion system
The GUI of SCADA software is shown in Figure 5 -116. Start button controls
the motors do homing motion and then enable the specific motion action buttons:
HOME, SPIRAL, MOVE, and Circle. The indicators PosZ and PosU can monitor the
logical position counter of motors from the AMAX-2242.

Figure 5-116 SCADA example
After seeing this application, users can know it is easy to develop it even though
they are only familiar with the PLC programming.
5.7 Quiz
1. Please modify try to modify ContinueDrv example of PCI-1240U to do the path
planning as shown below.

References145
2. Please try to modify AMAX2240_Motion_Path example of AMONet which
contains PTP, homing function, and path planning.
3. Modify AMONet WatchDog example to be able to show what module is
disconnected.
4. Create a Project to use 2-Axes Line and Arc interpolation to complete a path
shown below and add 3-Axes Line Interpolation function from (0,0,0) to (5000,
10000,4500)
5. Please use MultiPorg KW to connect AMAX-2050KW to control AMAX-2241 to
do PTP and advanced home move function.
do Linear and circular interpolation.

read the actual position and current status in X-Axis. (Hint: MC_Read_Status_A1)
do path planning shown below.

References147
References
[1] R. L. Andersson, Computing the Feasible Configurations of a 7-DOF Arm
Subject to Joint Limits, IEEE Transactions on Robotics and Automations, Vol.
9, No. 2, pp. 186-195, 1993.
[2] A. M. Anthony, Dealing with the Ill-Conditioned Equations of Motion for
Articulated Figures, IEEE Computer Graphics and Applications, pp. 63-71,
May 1990.
[3] A. M. Anthony, Dealing with the Ill-Conditioned Equations of Motion for
Articulated Figures, IEEE Computer Graphics and Applications, pp. 63-71,
May 1990.

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Motion Control

Developed by Advantech IAG Training Center

1.2 Application Story.......................................................................................2

1.3 Learning Purpose......................................................................................11

1.4 Structure of the Textbook.........................................................................11

Chapter 2 Essential Concepts..............................................................................13

2.2 Types of Motors.......................................................................................16

2.3 Motion Control Mode...............................................................................17

2.4 Pulse Types of Motion Control................................................................21

2.5 Speed Profile of Motor Driving...............................................................22

2.7 Position Compare.....................................................................................28

2.8 Position Latch...........................................................................................29

Chapter 3 Product Introduction.........................................................................31

3.2 Decentralized Motion Control System.....................................................32

3.3 Product Selection Guide...........................................................................36

3.4 Centralized vs. Decentralized...................................................................39

Chapter 4 Getting Started...................................................................................42

4.2 Practice for Centralized System...............................................................56

4.3 Decentralized Motion Control System.....................................................65

4.4 Pratice for Decentralized System.............................................................76

4.5 Hands on Exams.......................................................................................83

Chapter 5 Software Introduction (Advanced)...................................................86

5.2 Microsoft Visual Studio Introduction.......................................................87

5.2.1 DLL Programming for Centralized System.................................87

5.2.2 DLL Programming for Decentralized System............................104

5.3 Labview for Centralized Motion Control...............................................117

5.4 Introduction of MultiProg KW...............................................................120

5.5 Multiprog KW Programming of Motion................................................120

5.5.1 Basic Configuration of Multiprog KW......................................121

5.5.2 Motion Function Introduction of Multiprog KW.......................127

5.5.3 Advanced Motion Function of Multiprog KW..........................134

5.6 KW and SCADA Integration..................................................................142

1.1 Industry Overview

The automation industry contains a variety of automation, like building

automation, machine automation, environmental monitoring system automation, and

etc. The overview is shown in Figure 1 -1.

Figure 1-1 eAutomation Overview

getting important. As a result, companies supplying industrial equipments devote their

expansion; in building automation, the combination of fanless platforms (ex: UNO

Advantech IAG Training Center (Internal Use Only)

greenhouse gas; in machine automation, distributed motion control devices (ex:

AMAX series) facilitate the implementation in a more cost-effective way. To be a

relation to motion automation.

1.2 Application Story

There are a great diversity of applications in motion automation. This section

these applications, users will learn more about motion automation.

Decentralized motion control in solar cell loader/unloader application

Advantech IAG Training Center (Internal Use Only)

generate a significant amount of renewable electricity. One machine builder in Taiwan

integrated a wide range of Advantech products so as to meet the requirements of the

improving the reliability of Ethernet communication infrastructure.

The existing motion control system adopted by this customer is highly

expects to implement a decentralized motion control solution which requires:

High performance products with great reliability

A simplified Ethernet infrastructure to reduce wiring

successfully created a special junction cable allowing AMAX-2241/PMA to integrate

motion control commands to AMAX-2000 series modules through PCI-1202U;

Advantech IAG Training Center (Internal Use Only)

MES and CIM systems.

Leveraging the flexibility of a decentralized motion control system with

performance increased 23% by simplifying the architecture of the system (i.e.,

replacing out-of-date centralized motion control architecture with our decentralized

Figure 1-2 solar cell loader/unloader system diagram

Advantech IAG Training Center (Internal Use Only)