A motion controller and a method of controlling the motion of a plurality of axes which prevents a discontinuous position command being generated to a follower axis. A follower mode transfer function circuit or routine generates a position command in response to a master axis position. This function...http://www.google.com/patents/US6084372?utm_source=gb-gplus-sharePatent US6084372 - Electronic gearing from/to non-zero follower motion with phase adjust
