DELTA PLC Motor Control Programming

I need a complete DELTA PLC program that drives an automated motor-control setup. The job is centred on two core functions—precise speed regulation and repeatable position control—so the logic must switch cleanly between the two operating modes and hold accuracy under changing loads.

All field devices and the PLC hardware are already wired and live; what is missing is the ladder/structured-text code, parameter mapping and a short commissioning guide so I can load, test and fine-tune on site. Please incorporate any standard DELTA libraries you normally use, make all tags and rungs easy to read, and add inline comments so future tweaks stay simple.

Deliverables:
• Finished DELTA PLC program file
• Brief documentation showing I/O map, parameter blocks and step-by-step download procedure
• Remote test support (screenshare is fine) until both speed and position loops run smoothly at my end

I’ll provide the existing project file (blank), device list and desired RPM/position tolerances as soon as we start.