In accordance with a first preferred embodiment, a control method comprises monitoring a position of a motion control axis and controlling an output device responsive to the position of the motion control axis. The controlling step further includes latching a cam element that controls the output device, and unlatching the cam element that controls the output device. The manner in which the latching step is performed and the manner in which the unlatching step is performed are configurable in a programming interface. The programming interface is capable of receiving a latch position for the cam element and an unlatch position for the cam element. The programming interface is further capable of receiving additional configuration information to configure the manner in which the latching step is performed and different additional configuration information to separately configure the manner in which the unlatching step is performed. The latching step and the unlatching step are performed in the manner configured in the programming interface. In accordance with another preferred embodiment, a programming interface for a control system comprises an axis motion control instruction and an output cam instruction. The axis motion control instruction is executable to control movement of a motion control axis. The output cam instruction is executable to control a state of an output device responsive to a position of the motion control axis. The programming interface permits the axis motion control instruction and the output cam instruction to both be used in a common user program.