How do I implement a feedback loop to control a DC motor?

I have a couple of 1 hp PMDC motors that I need to control.  I have a VI set up that can take an RPM input, convert it to a 0-5V signal that is sent through my USB-2008 DAQ to an amplifier then to the motor.  It also displays the actual RPM of the motor by converting the frequency of a signal sent by a rotary encoder attached to the motor.  I need it to be able to adjust the applied voltage when a load is applied and keep within a 1 RPM window.  What would be the best way to accomplish this.
Dewayne

Hi Dewayne,
I cut out the PID part of your code and used simulated signals.  When I did that the PID loop operated as expected.  What does your actual RPM profile look like?  Have you tried using the PID autotuning VI instead of the PID VI?  I looked at your DAQ assistants and they are set up for different connection types (some are RSE and others are differential).  I would also double check to make sure that you have all of the connections set up correctly.  If you can post another copy of your VI with simulated signals that look like what you are actually getting I can take a look at the code again to see where you are running into problems.  Below is a link that will help you verify that your connections are correct.
Field Wiring and Noise Considerations for Analog Signals
http://zone.ni.com/devzone/cda/tut/p/id/3344
Nick Keel 
Applications Engineering 
National Instruments
Nick Keel
Product Manager - NI VeriStand and Model Interface Toolkit
National Instruments

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=)                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              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        FIELD-SYMBOLS: <fs_spfli> LIKE LINE OF it_spfli.
        LOOP AT it_spfli ASSIGNING <fs_spfli>.
          ADD 1 TO counter.
          WRITE: / <fs_spfli>-carrid,
                   <fs_spfli>-connid,
                   <fs_spfli>-countryfr,
                   <fs_spfli>-cityfrom,
                   <fs_spfli>-airpfrom,
                   <fs_spfli>-countryto,
                   <fs_spfli>-cityto,
                   <fs_spfli>-airpto,
                   <fs_spfli>-fltime,
                   <fs_spfli>-deptime,
                   <fs_spfli>-arrtime.
        ENDLOOP.
      ENDMETHOD.                    "show_data
    ENDCLASS.                    "main IMPLEMENTATION
    START-OF-SELECTION.
      DATA: main TYPE REF TO main,
            status TYPE REF TO status.
      CREATE OBJECT main.
      CALL METHOD main->get_data.
      CALL METHOD main->combine_data.
      CALL METHOD main->status~write.

    Hi,
    Check this example..., In this i implemented so many functionalities like top_of_page, drop_down at cell level etc.., also Check the programs BCALVEDIT also
    Just check it.
    REPORT  ZTEST_ALV_OO    MESSAGE-ID ZZ                           .
    DATA: G_GRID TYPE REF TO CL_GUI_ALV_GRID.
    DATA: L_VALID TYPE C,
          V_FLAG,
          V_DATA_CHANGE,
          V_ROW TYPE LVC_S_ROW,
          V_COLUMN TYPE LVC_S_COL,
          V_ROW_NUM TYPE LVC_S_ROID.
    DATA: IT_ROW_NO TYPE LVC_T_ROID,
          X_ROW_NO TYPE LVC_S_ROID.
    DATA:BEGIN OF  ITAB OCCURS 0,
         VBELN LIKE LIKP-VBELN,
         POSNR LIKE LIPS-POSNR,
         CELLCOLOR TYPE LVC_T_SCOL, "required for color
         DROP(10),
         check,
         END OF ITAB.
    "The Below Definitions Must.....
    DATA:
    * Reference to document
           DG_DYNDOC_ID       TYPE REF TO CL_DD_DOCUMENT,
    * Reference to split container
           DG_SPLITTER          TYPE REF TO CL_GUI_SPLITTER_CONTAINER,
    * Reference to grid container
           DG_PARENT_GRID     TYPE REF TO CL_GUI_CONTAINER,
    * Reference to html container
           DG_HTML_CNTRL        TYPE REF TO CL_GUI_HTML_VIEWER,
    * Reference to html container
           DG_PARENT_HTML     TYPE REF TO CL_GUI_CONTAINER.
    "up to here
    *       CLASS lcl_event_handler DEFINITION
    CLASS LCL_EVENT_HANDLER DEFINITION .
      PUBLIC SECTION .
        METHODS:
    **Hot spot Handler
        HANDLE_HOTSPOT_CLICK FOR EVENT HOTSPOT_CLICK OF CL_GUI_ALV_GRID
                          IMPORTING E_ROW_ID E_COLUMN_ID ES_ROW_NO,
    **Double Click Handler
        HANDLE_DOUBLE_CLICK FOR EVENT DOUBLE_CLICK OF CL_GUI_ALV_GRID
                                         IMPORTING E_ROW E_COLUMN ES_ROW_NO,
        TOP_OF_PAGE FOR EVENT TOP_OF_PAGE              "event handler
                             OF CL_GUI_ALV_GRID
                             IMPORTING E_DYNDOC_ID.
    *        END_OF_LIST FOR EVENT end_of_list              "event handler
    *                         OF CL_GUI_ALV_GRID
    *                         IMPORTING E_DYNDOC_ID.
    ENDCLASS.                    "lcl_event_handler DEFINITION
    *       CLASS lcl_event_handler IMPLEMENTATION
    CLASS LCL_EVENT_HANDLER IMPLEMENTATION.
    *Handle Hotspot Click
      METHOD HANDLE_HOTSPOT_CLICK .
        CLEAR: V_ROW,V_COLUMN,V_ROW_NUM.
        V_ROW  = E_ROW_ID.
        V_COLUMN = E_COLUMN_ID.
        V_ROW_NUM = ES_ROW_NO.
    *    MESSAGE I000 WITH V_ROW 'clicked'.
        CLEAR IT_ROW_NO[].
        X_ROW_NO-ROW_ID = V_ROW.
        APPEND X_ROW_NO TO IT_ROW_NO .
        CALL METHOD G_GRID->SET_SELECTED_ROWS
          EXPORTING
            IT_ROW_NO = IT_ROW_NO.
      ENDMETHOD.                    "lcl_event_handler
    *Handle Double Click
      METHOD  HANDLE_DOUBLE_CLICK.
        CLEAR: V_ROW,V_COLUMN,V_ROW_NUM.
        V_ROW  = E_ROW.
        V_COLUMN = E_COLUMN.
        V_ROW_NUM = ES_ROW_NO.
        IF E_COLUMN = 'VBELN'.
          SET PARAMETER ID 'VL' FIELD ITAB-VBELN.
          CALL TRANSACTION 'VL03N' AND SKIP FIRST SCREEN.
        ENDIF.
        IF E_COLUMN = 'POSNR'.
          SET PARAMETER ID 'VL' FIELD ITAB-VBELN.
          CALL TRANSACTION 'VL03N' AND SKIP FIRST SCREEN."
        ENDIF.
      ENDMETHOD.                    "handle_double_click
    *  METHOD END_OF_LIST.                   "implementation
    ** Top-of-page event
    *    PERFORM EVENT_TOP_OF_PAGE USING DG_DYNDOC_ID.
    *  ENDMETHOD.                            "top_of_page
        METHOD TOP_OF_PAGE.                   "implementation
    * Top-of-page event
        PERFORM EVENT_TOP_OF_PAGE USING DG_DYNDOC_ID.
      ENDMETHOD.                            "top_of_page
    ENDCLASS.                    "LCL_EVENT_HANDLER IMPLEMENTATION
    *&             Global Definitions
    DATA:      G_CUSTOM_CONTAINER TYPE REF TO CL_GUI_CUSTOM_CONTAINER,"Container1
                G_HANDLER TYPE REF TO LCL_EVENT_HANDLER. "handler
    DATA: OK_CODE LIKE SY-UCOMM,
          SAVE_OK LIKE SY-UCOMM,
          G_CONTAINER1 TYPE SCRFNAME VALUE 'TEST',
          GS_LAYOUT TYPE LVC_S_LAYO.
    data: v_lines type i.
    data: v_line(3) type c.
    *- Fieldcatalog for First and second Report
    DATA: IT_FIELDCAT  TYPE  LVC_T_FCAT,
          X_FIELDCAT TYPE LVC_S_FCAT,
          LS_VARI  TYPE DISVARIANT.
    *                START-OF_SELECTION
    START-OF-SELECTION.
      SELECT VBELN
             POSNR
             FROM LIPS
             UP TO 20 ROWS
             INTO CORRESPONDING FIELDS OF TABLE ITAB.
    describe table itab lines v_lines.
    END-OF-SELECTION.
      IF NOT ITAB[] IS INITIAL.
        CALL SCREEN 100.
      ELSE.
        MESSAGE I002 WITH 'NO DATA FOR THE SELECTION'(004).
      ENDIF.
    *&      Form  CREATE_AND_INIT_ALV
    *       text
    FORM CREATE_AND_INIT_ALV .
      DATA: LT_EXCLUDE TYPE UI_FUNCTIONS.
      "attention.....from here
      "split your container here...into two parts
      "create the container
      CREATE OBJECT G_CUSTOM_CONTAINER
               EXPORTING CONTAINER_NAME = G_CONTAINER1.
      "this is for top of page
    * Create TOP-Document
      CREATE OBJECT DG_DYNDOC_ID
                       EXPORTING STYLE = 'ALV_GRID'.
    * Create Splitter for custom_container
      CREATE OBJECT DG_SPLITTER
                 EXPORTING PARENT  = G_CUSTOM_CONTAINER
                           ROWS    = 2
                           COLUMNS = 1.
    * Split the custom_container to two containers and move the reference
    * to receiving containers g_parent_html and g_parent_grid
      "i am allocating the space for grid and top of page
      CALL METHOD DG_SPLITTER->GET_CONTAINER
        EXPORTING
          ROW       = 1
          COLUMN    = 1
        RECEIVING
          CONTAINER = DG_PARENT_HTML.
      CALL METHOD DG_SPLITTER->GET_CONTAINER
        EXPORTING
          ROW       = 2
          COLUMN    = 1
        RECEIVING
          CONTAINER = DG_PARENT_GRID.
    *  CALL METHOD DG_SPLITTER->GET_CONTAINER
    *    EXPORTING
    *      ROW       = 2
    *      COLUMN    = 1
    *    RECEIVING
    *      CONTAINER = DG_PARENT_HTML.
    *  CALL METHOD DG_SPLITTER->GET_CONTAINER
    *    EXPORTING
    *      ROW       = 1
    *      COLUMN    = 1
    *    RECEIVING
    *      CONTAINER = DG_PARENT_GRID.
      "you can set the height of it
    * Set height for g_parent_html
      CALL METHOD DG_SPLITTER->SET_ROW_HEIGHT
        EXPORTING
          ID     = 1
          HEIGHT = 5.
      "from here as usual..you need to specify parent as splitter part
      "which we alloted for grid
      CREATE OBJECT G_GRID
             EXPORTING I_PARENT = DG_PARENT_GRID.
    * Set a titlebar for the grid control
      CLEAR GS_LAYOUT.
      GS_LAYOUT-GRID_TITLE = TEXT-003.
      GS_LAYOUT-ZEBRA = SPACE.
      GS_LAYOUT-CWIDTH_OPT = 'X'.
      GS_LAYOUT-NO_ROWMARK = 'X'.
      GS_LAYOUT-CTAB_FNAME = 'CELLCOLOR'.
      CALL METHOD G_GRID->REGISTER_EDIT_EVENT
        EXPORTING
          I_EVENT_ID = CL_GUI_ALV_GRID=>MC_EVT_ENTER.
      CREATE OBJECT G_HANDLER.
      SET HANDLER G_HANDLER->HANDLE_DOUBLE_CLICK FOR G_GRID.
      SET HANDLER G_HANDLER->HANDLE_HOTSPOT_CLICK FOR G_GRID.
    *  SET HANDLER G_HANDLER->END_OF_LIST FOR G_GRID.
      SET HANDLER G_HANDLER->TOP_OF_PAGE FOR G_GRID.
      DATA: LS_CELLCOLOR TYPE LVC_S_SCOL. "required for color
      DATA: L_INDEX TYPE SY-TABIX.
      "Here i am changing the color of line 1,5,10...
      "so you can change the color of font conditionally
      LOOP AT ITAB.
        L_INDEX = SY-TABIX.
        IF L_INDEX = 1 OR L_INDEX = 5 OR L_INDEX = 10.
          LS_CELLCOLOR-FNAME = 'VBELN'.
          LS_CELLCOLOR-COLOR-COL = '6'.
          LS_CELLCOLOR-COLOR-INT = '0'.
          LS_CELLCOLOR-COLOR-INV = '1'.
          APPEND LS_CELLCOLOR TO ITAB-CELLCOLOR.
          MODIFY ITAB INDEX L_INDEX TRANSPORTING CELLCOLOR.
          LS_CELLCOLOR-FNAME = 'POSNR'.
          LS_CELLCOLOR-COLOR-COL = '6'.
          LS_CELLCOLOR-COLOR-INT = '0'.
          LS_CELLCOLOR-COLOR-INV = '1'.
          APPEND LS_CELLCOLOR TO ITAB-CELLCOLOR.
          MODIFY ITAB INDEX L_INDEX TRANSPORTING CELLCOLOR.
        ENDIF.
      ENDLOOP.
    * setting focus for created grid control
      CALL METHOD CL_GUI_CONTROL=>SET_FOCUS
        EXPORTING
          CONTROL = G_GRID.
    * Build fieldcat and set editable for date and reason code
    * edit enabled. Assign a handle for the dropdown listbox.
      PERFORM BUILD_FIELDCAT.
      PERFORM  SET_DRDN_TABLE.
    * Optionally restrict generic functions to 'change only'.
    *   (The user shall not be able to add new lines).
      PERFORM EXCLUDE_TB_FUNCTIONS CHANGING LT_EXCLUDE.
    **Vaiant to save the layout
      LS_VARI-REPORT      = SY-REPID.
      LS_VARI-HANDLE      = SPACE.
      LS_VARI-LOG_GROUP   = SPACE.
      LS_VARI-USERNAME    = SPACE.
      LS_VARI-VARIANT     = SPACE.
      LS_VARI-TEXT        = SPACE.
      LS_VARI-DEPENDVARS  = SPACE.
    **Calling the Method for ALV output
      CALL METHOD G_GRID->SET_TABLE_FOR_FIRST_DISPLAY
        EXPORTING
          IT_TOOLBAR_EXCLUDING = LT_EXCLUDE
          IS_VARIANT           = LS_VARI
          IS_LAYOUT            = GS_LAYOUT
          I_SAVE               = 'A'
        CHANGING
          IT_FIELDCATALOG      = IT_FIELDCAT
          IT_OUTTAB            = ITAB[].
      "do these..{
    * Initializing document
      CALL METHOD DG_DYNDOC_ID->INITIALIZE_DOCUMENT.
    * Processing events
      CALL METHOD G_GRID->LIST_PROCESSING_EVENTS
        EXPORTING
          I_EVENT_NAME = 'TOP_OF_PAGE'
          I_DYNDOC_ID  = DG_DYNDOC_ID.
      "end }
    * Set editable cells to ready for input initially
      CALL METHOD G_GRID->SET_READY_FOR_INPUT
        EXPORTING
          I_READY_FOR_INPUT = 1.
    ENDFORM.                               "CREATE_AND_INIT_ALV
    *&      Form  EXCLUDE_TB_FUNCTIONS
    *       text
    *      -->PT_EXCLUDE text
    FORM EXCLUDE_TB_FUNCTIONS CHANGING PT_EXCLUDE TYPE UI_FUNCTIONS.
    * Only allow to change data not to create new entries (exclude
    * generic functions).
      DATA LS_EXCLUDE TYPE UI_FUNC.
      LS_EXCLUDE = CL_GUI_ALV_GRID=>MC_FC_LOC_COPY_ROW.
      APPEND LS_EXCLUDE TO PT_EXCLUDE.
      LS_EXCLUDE = CL_GUI_ALV_GRID=>MC_FC_LOC_DELETE_ROW.
      APPEND LS_EXCLUDE TO PT_EXCLUDE.
      LS_EXCLUDE = CL_GUI_ALV_GRID=>MC_FC_LOC_APPEND_ROW.
      APPEND LS_EXCLUDE TO PT_EXCLUDE.
      LS_EXCLUDE = CL_GUI_ALV_GRID=>MC_FC_LOC_INSERT_ROW.
      APPEND LS_EXCLUDE TO PT_EXCLUDE.
      LS_EXCLUDE = CL_GUI_ALV_GRID=>MC_FC_LOC_MOVE_ROW.
      APPEND LS_EXCLUDE TO PT_EXCLUDE.
      LS_EXCLUDE = CL_GUI_ALV_GRID=>MC_FC_LOC_COPY.
      APPEND LS_EXCLUDE TO PT_EXCLUDE.
      LS_EXCLUDE = CL_GUI_ALV_GRID=>MC_FC_LOC_CUT.
      APPEND LS_EXCLUDE TO PT_EXCLUDE.
      LS_EXCLUDE = CL_GUI_ALV_GRID=>MC_FC_LOC_PASTE.
      APPEND LS_EXCLUDE TO PT_EXCLUDE.
      LS_EXCLUDE = CL_GUI_ALV_GRID=>MC_FC_LOC_PASTE_NEW_ROW.
      APPEND LS_EXCLUDE TO PT_EXCLUDE.
      LS_EXCLUDE = CL_GUI_ALV_GRID=>MC_FC_LOC_UNDO.
      APPEND LS_EXCLUDE TO PT_EXCLUDE.
    ENDFORM.                               " EXCLUDE_TB_FUNCTIONS
    *&      Form  build_fieldcat
    *       Fieldcatalog
    FORM BUILD_FIELDCAT .
      DATA: L_POS TYPE I.
      L_POS = L_POS + 1.
      X_FIELDCAT-SCRTEXT_M = 'Check'.
      X_FIELDCAT-FIELDNAME = 'CHECK'.
      X_FIELDCAT-TABNAME = 'IT_FINAL'.
      X_FIELDCAT-COL_POS    = L_POS.
      X_FIELDCAT-CHECKbox   = 'X'.
        X_FIELDCAT-EDIT = 'X'.
      X_FIELDCAT-OUTPUTLEN = '1'.
      APPEND X_FIELDCAT TO IT_FIELDCAT.
      CLEAR X_FIELDCAT.
      L_POS = L_POS + 1.
      X_FIELDCAT-SCRTEXT_M = 'Delivery'(024).
      X_FIELDCAT-FIELDNAME = 'VBELN'.
      X_FIELDCAT-TABNAME = 'IT_FINAL'.
      X_FIELDCAT-COL_POS    = L_POS.
      X_FIELDCAT-NO_ZERO    = 'X'.
      X_FIELDCAT-OUTPUTLEN = '10'.
      X_FIELDCAT-HOTSPOT = 'X'.
      APPEND X_FIELDCAT TO IT_FIELDCAT.
      CLEAR X_FIELDCAT.
      L_POS = L_POS + 1.
      X_FIELDCAT-SCRTEXT_M = 'Item'(025).
      X_FIELDCAT-FIELDNAME = 'POSNR'.
      X_FIELDCAT-TABNAME = 'IT_FINAL'.
      X_FIELDCAT-COL_POS    = L_POS.
      X_FIELDCAT-OUTPUTLEN = '5'.
      APPEND X_FIELDCAT TO IT_FIELDCAT.
      CLEAR X_FIELDCAT.
      L_POS = L_POS + 1.
      X_FIELDCAT-SCRTEXT_M = 'Drop'(025).
      X_FIELDCAT-FIELDNAME = 'DROP'.
      X_FIELDCAT-TABNAME = 'IT_FINAL'.
      X_FIELDCAT-COL_POS    = L_POS.
      X_FIELDCAT-OUTPUTLEN = '5'.
      X_FIELDCAT-EDIT = 'X'.
      X_FIELDCAT-DRDN_HNDL = '1'.
      X_FIELDCAT-DRDN_ALIAS = 'X'.
      APPEND X_FIELDCAT TO IT_FIELDCAT.
      CLEAR X_FIELDCAT.
    ENDFORM.                    " build_fieldcat
    *&      Module  STATUS_0100  OUTPUT
    *       text
    MODULE STATUS_0100 OUTPUT.
      SET PF-STATUS 'MAIN100'.
      SET TITLEBAR 'MAIN100'.
      IF G_CUSTOM_CONTAINER IS INITIAL.
    **Initializing the grid and calling the fm to Display the O/P
        PERFORM CREATE_AND_INIT_ALV.
      ENDIF.
    ENDMODULE.                 " STATUS_0100  OUTPUT
    *&      Module  USER_COMMAND_0100  INPUT
    *       text
    MODULE USER_COMMAND_0100 INPUT.
      CASE SY-UCOMM.
        WHEN 'BACK'.
          LEAVE TO SCREEN 0.
      ENDCASE.
    ENDMODULE.                 " USER_COMMAND_0100  INPUT
    *&      Form  SET_DRDN_TABLE
    *       text
    FORM SET_DRDN_TABLE.
      DATA:LT_DRAL TYPE LVC_T_DRAL,
            LS_DRAL TYPE LVC_S_DRAL.
      LOOP AT ITAB .
    * First listbox (handle '1').
        IF SY-INDEX = 1.
          LS_DRAL-HANDLE = '1'.
          LS_DRAL-VALUE =  ' '.
          LS_DRAL-INT_VALUE =  ' '.
        ELSE.
          LS_DRAL-HANDLE = '1'.
          LS_DRAL-VALUE =  ITAB-POSNR.
          LS_DRAL-INT_VALUE =  ITAB-POSNR.
        ENDIF.
        APPEND LS_DRAL TO LT_DRAL.
      ENDLOOP.
    **Setting the Drop down table for Reason Code
      CALL METHOD G_GRID->SET_DROP_DOWN_TABLE
        EXPORTING
          IT_DROP_DOWN_ALIAS = LT_DRAL.
    ENDFORM.                               " set_drdn_table
    *&      Form  EVENT_TOP_OF_PAGE
    *       text
    *      -->DG_DYNDOC_ID  text
    FORM EVENT_TOP_OF_PAGE USING   DG_DYNDOC_ID TYPE REF TO CL_DD_DOCUMENT.
      "this is more clear.....check it
      "first add text, then pass it to comentry write fm
      DATA : DL_TEXT(255) TYPE C.  "Text
    * Populating header to top-of-page
      CALL METHOD DG_DYNDOC_ID->ADD_TEXT
        EXPORTING
          TEXT      = 'Test Report'
          SAP_STYLE = CL_DD_AREA=>HEADING.
    * Add new-line
      CALL METHOD DG_DYNDOC_ID->NEW_LINE.
      CLEAR : DL_TEXT.
    * Move program ID
      CONCATENATE 'Program Name :' SY-REPID
             INTO DL_TEXT SEPARATED BY SPACE.
    * Add Program Name to Document
      PERFORM ADD_TEXT USING DL_TEXT.
    * Add new-line
      CALL METHOD DG_DYNDOC_ID->NEW_LINE.
      CLEAR : DL_TEXT.
    * Move User ID
      CONCATENATE 'User ID :' SY-UNAME INTO DL_TEXT SEPARATED BY SPACE
    * Add User ID to Document
      PERFORM ADD_TEXT USING DL_TEXT.
    * Add new-line
      CALL METHOD DG_DYNDOC_ID->NEW_LINE.
      CLEAR : DL_TEXT.
    * Move count (no of records).
      move v_lines to v_line.
      CONCATENATE 'No of records :' v_line INTO DL_TEXT SEPARATED BY SPACE.
    * Add Client to Document
      PERFORM ADD_TEXT USING DL_TEXT.
    * Add new-line
      CALL METHOD DG_DYNDOC_ID->NEW_LINE.
      CLEAR : DL_TEXT.
    * Move date
      WRITE SY-DATUM TO DL_TEXT.
      CONCATENATE 'Date :' DL_TEXT INTO DL_TEXT SEPARATED BY SPACE.
    * Add Date to Document
      PERFORM ADD_TEXT USING DL_TEXT.
    * Add new-line
      CALL METHOD DG_DYNDOC_ID->NEW_LINE.
      CLEAR : DL_TEXT.
    * Move time
      WRITE SY-UZEIT TO DL_TEXT.
      CONCATENATE 'Time :' DL_TEXT INTO DL_TEXT SEPARATED BY SPACE.
    * Add Time to Document
      PERFORM ADD_TEXT USING DL_TEXT.
    * Add new-line
      CALL METHOD DG_DYNDOC_ID->NEW_LINE.
    * Populating data to html control
      PERFORM HTML.
    ENDFORM.                    " EVENT_TOP_OF_PAGE
    *&      Form  ADD_TEXT
    *       To add Text
    FORM ADD_TEXT USING P_TEXT TYPE SDYDO_TEXT_ELEMENT.
    * Adding text
      CALL METHOD DG_DYNDOC_ID->ADD_TEXT
        EXPORTING
          TEXT         = P_TEXT
          SAP_EMPHASIS = CL_DD_AREA=>HEADING.
    ENDFORM.                    " ADD_TEXT
    *&      Form  HTML
    *       text
    FORM HTML.
      DATA : DL_LENGTH  TYPE I,                           " Length
             DL_BACKGROUND_ID TYPE SDYDO_KEY VALUE SPACE. " Background_id
    * Creating html control
      IF DG_HTML_CNTRL IS INITIAL.
        CREATE OBJECT DG_HTML_CNTRL
             EXPORTING
                  PARENT    = DG_PARENT_HTML.
      ENDIF.
    * Reuse_alv_grid_commentary_set
      CALL FUNCTION 'REUSE_ALV_GRID_COMMENTARY_SET'
        EXPORTING
          DOCUMENT = DG_DYNDOC_ID
          BOTTOM   = SPACE
        IMPORTING
          LENGTH   = DL_LENGTH.
    * Get TOP->HTML_TABLE ready
      CALL METHOD DG_DYNDOC_ID->MERGE_DOCUMENT.
    * Set wallpaper
      CALL METHOD DG_DYNDOC_ID->SET_DOCUMENT_BACKGROUND
        EXPORTING
          PICTURE_ID = DL_BACKGROUND_ID.
    * Connect TOP document to HTML-Control
      DG_DYNDOC_ID->HTML_CONTROL = DG_HTML_CNTRL.
    * Display TOP document
      CALL METHOD DG_DYNDOC_ID->DISPLAY_DOCUMENT
        EXPORTING
          REUSE_CONTROL      = 'X'
          PARENT             = DG_PARENT_HTML
        EXCEPTIONS
          HTML_DISPLAY_ERROR = 1.
      IF SY-SUBRC NE 0.
        MESSAGE I999 WITH 'Error in displaying top-of-page'(036).
      ENDIF.
    ENDFORM.                    " HTML
    Regards
    vijay

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    Message was edited by: Ed Fladung

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