The implementation of a controlled complex motion system requires integration of technologically heterogeneous subsystems and collaboration of experts, skilled in different technologies. To attain the desired requirements it is suitable to apply a design procedure organized according to a systematic approach, divided in different steps and representing standalone activities. The fundamental steps are the elicitation, decomposition and formalization of requirements. The systematic procedure proposed in this paper can be developed and supported by the UML (Unified Modelling Language) software tool. Different diagrams characterize both the most significant aspects of the hardware and software structure and the functional facilities. The procedure has been applied to a very simple controlled motion system, just to outlight the advantages and to encourage its reproduction for tutorial purpose.