A system and method for generating master and slave reference signals is disclosed, wherein at least one axis of the plurality of axes is a master section and at least one axis of the plurality of axes is a slave section, said slave section being a slave of said master section. The system and method generates a first reference signal and a second reference signal, wherein the second reference signal lags the first reference signal by a first delay period, and the processor provides the first reference signal to the slave section and the second reference signal to the master section. As a result, the slave section can lead the master section.