How much current does your motor draw at full load? The Nano-10 is rated for 4A peak and 2A continuous which means that only small motors can be controlled directly by the PLC?s PWM output. The motor will need to be connected to the PLC the same way as the regular output load shown in Figure 1.6 in the Nano-10 User?s Manual
Back EMF can be bypassed using a free-wheeling (flyback) diode wired across the motor terminals in reversed bias (see Figure 1.5.3)
For larger motor you can increase the control current using a large external transistor as suggested in Figure 11.2
Encoder that can output 24V NPN signal can be connected to the PLC?s digit input and enable the PMON functions. PULSEFREQUENCY command can be used to read the frequency of incoming pulses from the encoder which gives you the speed information of the motor. You can then apply PID algorithm to fine tune the PWM output.
For HMI there are many SCADA type software on the market that can be used with the PLC as long as they support either the Modbus RTU protocol (via serial port) or the Modbus/TCP protocol (via the Ethernet).
You can also program the Nano-10 to capture the readings and write the data to a file in CSV format. The data file thus created can be uploaded to a FTP server using FTP protocol that the PLC supports. CSV file can be imported into an Excel spreadsheet directly which can then plot the chart. Nano-10 will need to be equipped with the FRAM-RTC-256 in order to create the data file (see
http://www.tri-plc.com/framrtc2.htm)