6.4.6 Phase compensation (MC_Phasing) ...................................................................................................................... 6 - 79
6.5 Group Motion Function Blocks ....................................................................................................................................... 6 - 81
6.5.1 Adds one axis to the group (MC_AddAxisToGroup) ............................................................................................. 6 - 81
6.5.2 Removes one axis from the group (MC_RemoveAxisFromGroup) ..................................................................... 6 - 82
6.5.3 Removes all axes from the group (MC_UngroupAllAxes) .................................................................................... 6 - 83
6.5.4 Changes the state for group from GroupDisable to GroupEnable (MC_GroupEnable) ...................................... 6 - 84
6.5.5 Changes the state for group from GroupEnable to GroupDisable (MC_GroupDisable) ..................................... 6 - 85
6.5.6 Performs the search home of all axes in the group (MC_GroupHome) ............................................................... 6 - 86
6.5.7 Sets the position of all axes in the group without moving (MC_GroupSetPosition) ............................................. 6 - 87
6.5.8 Stop the group immediately (MC_GroupStop) ....................................................................................................... 6 - 89
6.5.9 Stop the group (MC_GroupHalt) ............................................................................................................................. 6 - 90
6.5.10 Reset the group error (MC_GroupReset) ............................................................................................................ 6 - 91
6.5.11 Absolute positioning linear interpolation operation (MC_MoveLinearAbsolute) ................................................. 6 - 92
6.5.12 Relative positioning linear interpolation operation (MC_MoveLinearRelative) ................................................... 6 - 96
6.5.13 Absolute positioning circular interpolation operation (MC_MoveCircularAbsolute) .......................................... 6 - 100
6.5.14 Relative positioning circular interpolation operation (MC_MoveCircularRelative) ............................................ 6 - 105
6.6 Exclusive Function Blocks ............................................................................................................................................ 6 - 110
6.6.1 Connect servo drives (LS_Connect) ..................................................................................................................... 6 - 110
6.6.2 Disconnect servo drives (LS_Disconnect) ............................................................................................................ 6 - 111
6.6.3 Read SDO (LS_ReadSDO) .................................................................................................................................. 6 - 112
6.6.4 Write SDO (LS_SDO) ........................................................................................................................................... 6 - 113
6.6.5 Save SDO (LS_SaveSDO) ................................................................................................................................... 6 - 114
6.6.6 Encoder preset (LS_EncoderPreset) ................................................................................................................... 6 - 115
6.6.7 JOG operation (LS_Jog) ....................................................................................................................................... 6 - 116
6.6.8 Read Cam data (LS_ReadCamData) .................................................................................................................. 6 - 118
6.6.9 Write Cam data (LS_WriteCamData) ................................................................................................................... 6 - 119
6.6.10 Read ESC (LS_ReadEsc) .................................................................................................................................. 6 - 121
6.6.11 Write ESC (LS_WriteEsc) ................................................................................................................................... 6 - 123
6.6.12 Skip Cam (LS_CamSkip) .................................................................................................................................... 6 - 125
6.6.13 Variable Cam operation (LS_VarCamIn) ........................................................................................................... 6 - 126
6.6.14 Variable gear operation (LS_VarGearIn) ............................................................................................................ 6 - 138
6.6.15 Variable positioning gear operation (LS_VarGearInPos) .................................................................................. 6 - 130
6.6.16 Read the slave location of the CAM table (LS_ReadCamTableSlavePos) ..................................................... 6 - 132
6.6.17 Write inverter speed (LS_InverterWriteVel) ........................................................................................................ 6 - 133
6.6.18 Read inverter speed (LS_InverterReadVel) ....................................................................................................... 6 - 134
6.6.19 Write inverter control word (LS_InverterControl) ................................................................................................ 6 - 135
6.6.20 Read inverter status 1 (LS_InverterStatus1) ...................................................................................................... 6 - 138
6.6.21 Read inverter status 2 (LS_InverterStatus2) ...................................................................................................... 6 - 139
6.6.22 Speed control operation (CSV mode) (LS_SyncMoveVelocity) ........................................................................ 6 – 140
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