PLC Program for Delta-controlled Servos

I need a compact, well-structured PLC program for a Delta controller that will drive two servo motors in perfect synchrony, using pulse-and-direction signals. The servos form the heart of a custom lemongrass-cutting machine, so tight positional tracking between both axes is critical; any lag or mismatch will affect cut quality.

The work involves:

• Writing and commenting the ladder / structured-text code (WPLSoft or ISPSoft—whatever you are most comfortable with) so that both axes accelerate, run, and decelerate together from a single command source.
• Setting up all relevant parameters for pulse output, high-speed counters, and motion settings on the Delta PLC as well as the matching Delta servo drives.
• Supplying a brief commissioning guide—address mapping, wiring notes, and test procedure—so I can download, connect, and verify on the shop floor without guesswork.

Acceptance will be based on a bench test where both servos start, ramp, run, and stop together with no visible skew throughout the full stroke length.