Yaskawa MotionWorks IEC - Manual (Page 115)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 107
Example 3
The example shown here is that of an adjustment of -30 degrees being
made to the slave axis which was geared to a master axis running at 360
degree/sec velocity with a 1:1 ratio.
-30 degree adjustment made while motion was continuing.