Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 79)

PROGRAMMING 4-51
When the master axis moves past the master reference
position, the following axis saves its own current position as
the base position. It then adds the position from the cam
table to the base position to arrive at the absolute position at
which it should be, using linear interpolation between points.
Rotary Mode with Endpoints Equal: When the master axis
and the axis under control are configured for rotary mode in
register 0, but the rotary position cam endpoints bit in register
130 is set to 0, the position cam will actually operate in linear
mode. The beginning and ending points of the table must be
equal and all positions in the table must be positive and less
than the unwind constant. After the master reaches the
unwind point, the following axis will repeat the cam motion.
The motion of the axis under control must be completed
before the master axis reaches the unwind position. If the
master axis runs in reverse, the position cam will work
backwards through the table. The cam will continue to
execute even if the master axis backs up behind the master
reference position.