about program pulse i/o board CQM1H - OMRON


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i have problem using PWM instruction. i want to control speed of dc motor using pole placement controller. The ouput of encoder of the motor is in digital so my lecturer ask me to use pulse i/o board. But i dont have any clue about it.

The PWM is so complicated. So i dunno how to use it. Can some one help me solve my problem..
I do have and should use da pole placement controller. But did the PWM also is the controller.

and one more question. IR 230 and SR 230. Are the two of them are same? if not, what the different between them.

i hope u guys can help me. because my project must be submit in mid of october. Thanks for ur kindness.