The function moves the specified slave unit from the current qSlave position to a qSyncSlave destination, meeting the appointment with a master moving at velMaster speed to its appointment at the qSyncMaster quota.

The movement occurs with accelerations and velocities recalculated in each call of the function.

In the event that the slave's velocity exceeds velMaxSlave or acceleration exceeds accMaxSlave, they are restricted and signaled via the function return code.

The quota qSyncSlave is reached by the slave with the velSyncSlave speed.

Note: velSyncSlave usually coincides with velMaster, but not necessarily.

The velMaster can change, so the calculations are repeated at each sampling and are only used to decide the opportunity in that sampling to accelerate/decelerate the slave.

The velMaster is taken as an absolute value and is always understood to agree with the speed at which the slave approaches the qSyncSlave appointment.

kappa allows the trajectory of the slave to be warped: the higher the value, the more the slave movement is anticipated, i.e., more space is attempted during the first half of the mission. Reasonable values range from 1.0 (no advance) up to 3.0 (maximum advance).

Example on oscilloscope of a possible output of the function:

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