FX5U Servo Camming Synchronization

I am setting up a Mitsubishi FX5U PLC paired with an FX5-80SSC-G motion module that drives seven MR-JET-G servos. The goal is to run every axis in rotational camming and keep all seven servos perfectly locked to a master rotary incremental encoder. All development must be carried out in GX Works3, making full use of the motion instruction set and cam table utilities available for the iQ-F series. I already have the basic hardware topology and parameter files; what I need is a clean, well-structured program that: • Generates and downloads the required rotational cam profiles. • Establishes master-slave relationships so each MR-JET-G follows the encoder in real time. • Handles start-up homing, cam engagement, on-the-fly ratio changes, and safe stop routines. • Includes concise comments and a short commissioning guide so I can adapt timings later. Acceptance criteria: each slave axis must track the master within ±1 pulse at 2000 rpm when tested on a scope, and the project file must compile with no warnings in GX Works3. Deliverables: GXW3 project file, exported cam tables (CSV or TXT), and a brief PDF explaining parameter settings, test procedure, and any user bits required for HMI control.