Speed control signal to drive


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I would like to control the speed of a motor using pulse width modulation function of a micrologix 1500 (BXB). Pulse width to be controlled by error signal. Could anyone help me? Thanks to all.
The pwm signal may be used by two ways: converted to analog signal by low pass filter or directly connected to power stage with logic(TTL) level inputs from as Allegro, STMicroelectronics, National Semiconductor. Pay attention that for CW/CCW rotation you need additional signal "Direction".

The analog signal must be passed to power amp in voltage or current mode.

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