Ok here are the different contexts and words you can use:

From the farthest to the closest context 

Señora - you don't acknowledge her as your family    
Madre - you acknowledge her as your progenitor and deserves your respect   
Mamá - you acknowledge her as your Mom, a person you love no matter what   

and then : 

Mami: you accept how much you love her to the point of the ridiculousness that you are willing to endure to call her in the most intimate way only little kids without bashfulness would be willing to call her