The movement of the slave includes a first phase (tracking) in which its speed is proportional to that of the master, followed by a second phase (recovery) during which the slave performs a movement such that, at the end of the cycle, it reappears in the right phase position and with the right speed in order to start, without perturbation, the next cycle.

The recovery motion is calculated by using a sinusoidal law of motion, with peak velocity calculated as a function of the working parameters. The master axis can be a controlled axis, or an external reference (e.g., a line encoder) or even a virtual quota constructed and evolved by the R3 application software.

The slave axis must necessarily be a controlled axis.

Operationally, the function must be invoked, with the master stopped, with the code M_INITIALIZING and initialize all the function parameters, then perform a positioning on the quota returned by the function and then enable the movement of the master.

Example on oscilloscope of a possible output of the function:

For a concrete example see in the RDE environment: Workspace -> Specials -> Examples Library.