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PCMM + S700

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Not so long ago I bought Programmable Controller, Multi-axis Master (PCMM) and now I'm starting to learn it. I also have a S700 servo amplifier.

I have a task to simultaneously control two axes in real time. 

How can PCMM help me with this? How should I use it?

I think about EtherCAT multi-axis master and motion controller but I never worked with it. Should i use this?

I do not need stand-alone control. I want to control the axes using a PC.

I have two linear axes: the x-axis and the y-axis. For example, how can I draw a circle?

I think that the most suitable for me is control PCMM by the TCP / IP with the help of control commands similar to those that I use when working with AKD or s300 / s700 using the terminal. Is it possible?

Input data for the PCMM sent from the PC will be as follows: speed, acceleration and deceleration, end position.

The output from the PCMM sent to the PC should be as follows: current speed, current position and deceleration, current position, and position error if possible.

Thanks for your help.




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PCMM is an EtherCAT master programmed with the KAS IDE software where a user can write a motion control/PLC program. The software contains a number of built in motion functions for single axis moves (absolute, relative, and velocity), master/slave moves (gearing and camming) and linear/circular interpolation (lines and circles in an x-y plane). You cannot just stream down speed, accel, and position values and have to use the available motion function blocks. There are relative and absolute linear and circular moves. There are template programs in the KAS IDE software when you choose a new project, and there are multiple in a coordinated motion section that show how to setup the groups to do these types of moves.

Also, have a number of videos on different KDN pages showing the basics of getting to used to the software at

The PCMM controller can communicate with a program running on an external PC. A number of communication protocols are supported through the service port on the top of the PCMM, and when talking to a program on a computer people usually use UDP or HTTP communication. With UDP you can send or receive packets of information using built in PLC functions that are described at With HTTP, the program running on your computer can use GET or PUT commands to read or write any variable in the project using the IP address of the controller and the string based name of the variable, and there is a sample project at



Thank you for your help. But can you send me an example project PCMM + S700 for two linear axes?

Krounis - Wed, 10/16/2019 - 02:58

It does not matter what type of servo drive you are using, the same project would work for S700 or any AKD drive. The only difference is how you setup the EtherCAT network which is where you map the KAS project axis to a servo drive. The KAS IDE software has a number of 2 axis template projects built in, if you press file > new then you can choose from the coordinated motion templates that show how to do the linear and circular interpolation functions

Joe Parks - Wed, 10/16/2019 - 04:43

I tried to start the engine using the S700 and PCMM. Power is supplied to the engine and removed, errors are cleared. But the movement does not occur. I can’t even do jogging. Please help to understand why the movement is not performed. I will leave my project below.

Krounis - Fri, 10/18/2019 - 00:01

Have you watched the first video about starting a project and running it on real hardware at

There is no difference to the PCMM controller or inside the KAS IDE software if you have an AKD or S700. You still have to scan the EtherCAT network and map an axis to the drive before the PLC motion functions will work.

Joe Parks - Fri, 10/18/2019 - 04:53

Do I need to configure the S700 servo amplifier to work with PCMM? I still can not start the movement. Power on, power off, position output, error reset - yes, movement - no.

Krounis - Sun, 10/20/2019 - 19:05

Yes there are a few things to make sure are set that are covered on another KDN page at

Joe Parks - Mon, 10/21/2019 - 04:57
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