RSLogix 500 Motor Speed Program

I have an existing RSLogix 500 ladder file that needs to reach a final size of about 85 well-structured rungs. Its sole purpose is to control electric motors, specifically handling precise speed regulation—no start/stop or direction logic beyond what is required for safety permissives.

Here is what I need:
• A clean, documented ladder program (.RSS) written in RSLogix 500 that achieves closed-loop speed control for the motors.
• All rungs organised logically, with clear rung comments and tag names so future maintenance is simple.
• A brief overview (PDF or Word) describing the control strategy, the registers/timers you used, and how to tweak set-points.

The PLC platform stays in RSLogix 500; I’m not migrating hardware, just expanding and refining the current project. If you can deliver code that compiles without errors, stays within the 85-rung target, and makes the motor speed control rock-solid, let’s get started.