Hello everyone. I'm new to the forum. I have a problem with the encoder and PID. We need to turn an encoder controlled rollover. I am using s7-1500 tia portal v15.1. We have to slow down the speed of the engine during the first starts and stops. In other words, it will stay slow and accelerate, after going at a constant speed, it will slow down near the end. how can I do that.?