To start correction, the error must be set and then the state variable must be assigned the value M_INITIALIZING (at least the first time) or, for subsequent corrections, restart from 0 with the master position.

The correction is made by adding (or subtracting) to the slave's base speed a correction speed calculated to recover (or lose) a space equal to the amount of the error.

By the corrType parameter, it is possible to choose from several types of correction speed profiles:

•0, triangular

•1, parabolic

•2, sinusoidal

•3, jerky (parabolic with continuous acceleration)

•4, raised cosine

•5, pentastic

When initializing the correction, the peak velocity of the correction is calculated using the master's reference velocity(vRefMaster), and if it exceeds one of the limiting velocities(vMin or vMax) the correction triangle (or equivalent) is automatically transformed into a trapezoid, increasing the initial and final acceleration until aMax is reached.

The correction acts in the period it takes the master to travel a specified space.

The slave's speed and acceleration are eventually limited to the values of minimum and maximum speed and maximum acceleration by signaling in the state variable that this has occurred.

If speed and/or acceleration are limiting, the error value is not recovered all.

Example on oscilloscope of a possible output of the function:

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