Video link:
https://youtu.be/zcFSYVxLbUQ?list=PLtKiUTClLLWYBCVReC4vgG9ZziLsghJHz
Short Text:
Explains how to define a cam table, which is a special type of compensation used to generate a custom position trajectory for a slave motor based off of the cyclical motion of a master motor. Torque output adjustments and I/O manipulation can be issued at user-defined locations along the cam trajectory as well.