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This is a sample program of a rotary knife application.  I didn't get a chance to test it in the field, just at my desk.  The idea is the program will use operator input to create a cam profile, execute the profile, and correct the knife position using a marker pulse input.  I didn't work out the operator interface to any detail.  I just hard coded in the setup constants and ran the program.  I added a simple jog and home routine.

I also included the excel spreadsheet I used to work out the math involved.