The challenge is the ramped motion control signal. Though it is not a completely general solution to the motion control problem, the PIDRAMP command can sometimes work for this.

When it receives a new output level, the PIDRAMP task expands that into a sequence of levels along a smooth transition, from the previous level to the new one. It can generate sequences as long as 4096 updates, but by stringing together a sequence of partial movements you can produce a very long ramp. Select the "LINEAR" ramp shape parameter. The duration of the ramp is determined by the number of samples you specify for the transition, and the update rate of the DACOUT or timed output procedure used to deliver the update values to the output converter port.

If you have a predetermined sequence movements, you can deliver them all in advance, and the PIDRAMP command will pre-compute the entire sequence. To hold a level for a period of time, just make the new target level the same as the previous one.

One feature that is distinctly missing from this scheme, but common in more general motion controls, is the ability to limit the acceleration at the endpoints of each linear movement. The changes of velocity at each end point will be abrupt.