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The attached paper reviews options that are available for Ethernet and non-Ethernet connections within a motion controller. It begin with a summary of what information can be transferred in and out of the motion controller followed by network and non-network examples for communicating data. Finally, the factors that need to be considered to choose the right one. Through the paper details on KAS PxMM controller setup and implementation are included.

Many applications require a number of axis so high that it's not possible to use one PCMM only.

In order to get over this limitation it's possible to use more controllers with the benefits of exchanging data between them.

There are three chances available:

  1. EthernetIP with one PCMM as adapter and others as scanners;
  2. Profinet IO with one PCMM as controller and others as devices;
  3. UDP with one PCMM as server and others as client.

The choice depends on the requested performance.

The following chart outlines the networks (field buses) supported by the PCMM and PDMM and the key  parameters of each.


The following document outlines the EtherCAT based networks that KAS supports and key parameters that define each of the  network.

The udpSendToVar and udpRcvFromVar functions  (starting in soon to be released KAS version 2.11)can be use to read and write variables via UDP to and from a PxMM.  The other device can be a PDMM or a third party device. In this example, for ease of testing, data was sent back to the same PDMM with Address using UDP port # 20.

The attached project can be run in a single PDMM and shows the 2 way communications.

Send Program in the project: UDP_Send


Attached is a sample program showing basic UDP communications between two KAS PxMM controllers. The concepts here can easily be applied to communicating between a PxMM controller and a PC or other non-Kollmorgen product.

With PxMM UDP communications: