Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) - Manual (Page 36)

3-6 Technical Overview
Publication 999-122 - January 1997
High Level Motion
Functions Because servo action forces the actual position to track the command
position, sophisticated indexing, jogging, and electronic gearing
functions are easily implemented through software control of the
command position. These high level motion functions are shown below
and explained in the following paragraphs.
Destination
Position Backlash
Compensation
Master Axis
Command
Position
Master Axis
Actual Position
Trapezoidal,
Parabolic,
S-Curve,
Indexed
Ramp Up/Ramp Down
Jogger
Time-Lock Cam
Time
Position-Lock Cam
Master Position
Electronic Gearing
Interpolator 0
Interpolator 1
M
S
Σ
Command
Position