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A mathematical model for dynamic analysis of elastic cam devices driven by DC motors with velocity control is presented in this paper. Besides the dynamic modelling of the cam system, the model considers the electromagnetic behaviour of the motor and the response of the speed regulator, based on a standard PID (proportional, integral and derivative) algorithm. The proposed model can be used as design tool, to simulate actual cam servomechanisms with a good degree of reliability and to evaluate the effects due to a modification of the control system parameters. Some simulation results are included in the paper, to demonstrate the possibility of use of the model.