I am essentially trying to build an inverted pendulum using an IDEC plc as the controller. I have done this sort of thing with micro controllers but now need to drive it with PLC only. I want to drive the DC motor speed using the output from a DAC module (will be processed by PID before output to DAC). I would like to control the DC motor direction using a digital output from PLC (on for forward and off for reverse say). I request information on hardware interface which would allow me to do this.

 

You need external power amplifier in velocity mode with Step/Dir input like stepper control. Pay attention that you need in one more DOut for Enable of power amplifier. Such amps you may find inside Elmo products for example.