Programming Analog outputs IDEC PLC

[00Electrician 0]

I am new to writing programs for PLCs (no experience) I cannot find any information to guide me through the process of programming an analog output to control a variable frequency drive. I have found bits and pieces here and there, but nothing that explains the entire process. The WindLDR help is no help at all. I am trying to program the drive for the stacking forks on a sticker machine at a saw mill. The sequence of operation as follows: 1) Forks raise 2) Drive starts 3) when forks are fully extended drive brakes to a stop 4) Forks lower 5) Drive starts (still in the same direction) to retract forks to original position. There are sensors at forks fully extended and forks fully retracted. Thanks, Larry