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Subset of the



Technical Specification

PLCopen - Technical Committee 2 – Task Force



Function blocks for motion control





Version 1.1



Appendix A :



Compliance Procedure and Compliance List



DISCLAIMER OF WARANTIES

THIS DOCUMENT IS PROVIDED ON AN “AS IS” BASIS AND MAY BE SUBJECT TO FUTURE ADDITIONS, MODIFICATIONS, OR CORRECTIONS. PLCOPEN HEREBY DISCLAIMS ALL WARRANTIES OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE, FOR THIS DOCUMENT. IN NO EVENT WILL PLCOPEN BE RESPONSIBLE FOR ANY LOSS OR DAMAGE ARISING OUT OR RESULTING FROM ANY DEFECT, ERROR OR OMISSION IN THIS DOCUMENT OR FROM ANYONE’S USE OF OR RELIANCE ON THIS DOCUMENT.



July 2005

Appendix A. Compliance Procedure and Compliance List

Listed in this Appendix are the requirements for the compliance statement from the supplier of the Motion Control Function Blocks. The compliance statement consists of two main groups: supported data types (see Appendix A 2) and supported Function Blocks, in combination with the applicable inputs and outputs (see Appendix A 3 Overview of the Function Blocks and its paragraphs). The supplier is required fill out the tables for the used data types and Function Blocks, according to their product, committing their support to the specification.

By submitting these tables to PLCopen, and after approval by PLCopen, the list will be published on the PLCopen website, www.plcopen.org , as well as a shortform overview, as specified in Appendix A 2 and Appendix A 3 Overview of the Function Blocks.

In addition to this approval, the supplier is granted access and usage rights of the PLCopen Motion Control logo, as described in chapter Appendix A 4 The PLCopen Motion Control Logo and Its Usage.


Data types

The data type REAL listed in the Function Blocks and parameters (e.g. for velocity, acceleration, distance, etc.) may be exchanged to SINT, INT, DINT or LREAL without to be seen as incompliant to this standard, as long as they are consistent for the whole set of Function Blocks and parameters.

Implementation allows the extension of data types as long as the basic data type is kept. For example: WORD may be changed to DWORD, but not to REAL.



Function Blocks and Inputs and Outputs

An implementation which claims compliance with this PLCopen specification shall offer a set of Function Blocks for motion control, meaning one or more Function Blocks, with at least the basic input and output variables, marked as “B” in the tables. These inputs and outputs have to be supported to be compliant.
For higher-level systems and future extensions any subset of the extended input and output variables, marked as “E” in the tables can be implemented.
Vendor specific additions are marked with “V”, and can be listed as such in the supplier documentation.


- Basic input/output variables are mandatory Marked in the tables with the letter “B”
- Extended input /output variables are optional Marked in the tables with the letter “E”
- Vendor Specific additions Marked in the vendor’s compliance documentation with “V”


All the vendor specific items will not be listed in the comparison table on the PLCopen website, but in the detailed vendor specific list, which also is published.
All vendor specific in- and outputs of all FBs must be listed in the certification list of the supplier. With this, the certification listing from a supplier describes all the I/Os of the relevant FBs, including vendor-specific extensions, and thus showing the complete FBs as used by the supplier.

Appendix A 1. Statement of Supplier



Supplier name
 Eckelmann AG
Supplier address
 Berliner Straße 161
City
 Wiesbaden
Country
 Germany
Telephone
 +49 (0)611-7103-0
Fax
 +49 (0)611-7103-133
Email address
 info@eckelmann.de
Product Name
 EMC55
Product version
 V1.17
Release date
 October 2005



I hereby state that the following tables as filled out and submitted do match our product as well as the accompanying user manual, as stated above.

Name of representation (person): Roland Simon

Date of signature (dd/mm/yyyy): 12.10.2006

Signature: ppa. Roland Simon


Appendix A 2. Supported Data types

Defined datatypes with MC library:

Supported

If not supported, which datatype used

BOOL
 Yes

INT
 Yes

WORD
 Yes

REAL
 No
 LREAL
ENUM
 Yes

Table 1: Supported datatypes


Within the specification the following derived datatypes are defined. Which structure is used in this system:
Derived datatypes:

Where used

Supported

Which structure

Axis_Ref
 Nearly all FBs
 Yes
 TYPE AXIS_REF : WORD; END_TYPE
MC_Direction
(extended)
 MC_MoveAbsolute
MC_MoveVelocity
 Yes
 TYPE MC_Direction :

( MD_NEGATIV_E := -1,

MD_POSITIV_E := 1,

MD_SHORTEST_WAY_E := 2
);
END_TYPE
MC_TP_REF
 MC_PositionProfile
 Yes
 TYPE MC_TP_REF :
STRUCT
NoOfRows: DWORD;
TP_TablePtr: DWORD;
END_STRUCT
END_TYPE


TP_TablePtr is a pointer to the table of the following type:


ARRAY{0..NoOfRows-1] OF MC_TP_TR


TYPE MC_TP_TR :
STRUCT
delta_time: LREAL;
position: LREAL;
interpolation: MC_PROFILE_INT_ART;
END_STRUCT
END_TYPE


TYPE MC_PROFILE_INT_ART : (

PROFILE_INT_ART_LINEAR_E:=0,

PROFILE_INT_ART_KUB_SPLINE_E:=1,

PROFILE_INT_ART_QUINTIC_SPLINE_E:=2

);

END_TYPE
MC_TV_REF
 MC_VelocityProfile
 Yes
 TYPE MC_TV_REF :
STRUCT
NoOfRows: DWORD;
TV_TablePtr: DWORD;
END_STRUCT
END_TYPE


TV_TablePtr is a pointer to the table of the following type:


ARRAY{0..NoOfRows-1] OF MC_TV_TR


TYPE MC_TV_TR :
STRUCT
delta_time: LREAL;
position: LREAL;
interpolation: MC_PROFILE_INT_ART;
END_STRUCT
END_TYPE


TYPE MC_PROFILE_INT_ART : (

PROFILE_INT_ART_LINEAR_E:=0,

PROFILE_INT_ART_KUB_SPLINE_E:=1,

PROFILE_INT_ART_QUINTIC_SPLINE_E:=2

);

END_TYPE
MC_TA_REF
 MC_AccelerationProfile
 Yes
 TYPE MC_TA_REF :
STRUCT
NoOfRows: DWORD;
TA_TablePtr: DWORD;
END_STRUCT
END_TYPE


TA_TablePtr is a pointer to the table of the following type:


ARRAY{0..NoOfRows-1] OF MC_TA_TR


TYPE MC_TA_TR :
STRUCT
delta_time: LREAL;
position: LREAL;
interpolation: MC_PROFILE_INT_ART;
END_STRUCT
END_TYPE


TYPE MC_PROFILE_INT_ART : (

PROFILE_INT_ART_LINEAR_E:=0,

PROFILE_INT_ART_KUB_SPLINE_E:=1,

PROFILE_INT_ART_QUINTIC_SPLINE_E:=2

);

END_TYPE
MC_CAM_REF
 MC_CamTableSelect
 Yes
 TYPE MC_CAM_REF :
STRUCT
NoOfRows: DWORD;
CamPosPtr: DWORD;
END_STRUCT
END_TYPE


CamPosPtr is a pointer to the table of the following type:


ARRAY[0..NoOfRows-1] OF MC_POS_TR


TYPE MC_POS_TR :
STRUCT
master: LREAL;
slave: LREAL;
interpol: MC_CAM_INT_ART;
END_STRUCT
END_TYPE


TYPE MC_CAM_ART . (
CAM_INT_ART_LINEAR_E:=0,

CAM_INT_ART_KUB_SPLINE_E:=1,

CAM_INT_ART_QUINTIC_SPLINE_E:=2,

CAM_INT_ART_BEZIER_E:= 3

);
END_TYPE
MC_CAM_ID
(extended)
 MC_CamTableSelect
MC_CamIn
 Yes
 TYPE MC_CAM_ID : WORD; END_TYPE
MC_StartMode
(extended)
 MC_CamIn
 Yes
 TYPE MC_StartMode : (

STARTMODE_ABSOLUTE_E :=0,

STARTMODE_RELATIVE_E :=1,
STARTMODE_RAMP_IN_E :=2
);
END_TYPE
MC_BufferMode
 Buffered FBs
 Yes
 TYPE MC_BufferMode : (

BM_ABORTING_E :=0,

BM_BUFFERED_E :=1,
BM_BLENDING_LOW_E :=2,
BM_BLENDING_PREVIOUS_E :=3,
BM_BLENDING_NEXT_E :=4,
BM_BLENDING_HIGH_E :=5,
BM_MASTER_POSITION_E :=6
);
END_TYPE








Table 2: Supported derived datatypes


Appendix A 3. Overview of the Function Blocks

Single Axis Function Blocks

Supported Yes / No

Comments (<= 48 char.)

MC_MoveAbsolute
 Yes

MC_MoveRelative
 Yes

MC_MoveAdditive
 Yes

MC_MoveSuperimposed
 Yes

MC_MoveVelocity
 Yes

MC_Home
 Yes

MC_Stop
 Yes

MC_Power
 Yes

MC_ReadStatus
 Yes

MC_ReadAxisError
 Yes

MC_Reset
 Yes

MC_ReadParameter
 Yes

MC_ReadBoolParameter
 Yes

MC_WriteParameter
 Yes

MC_WriteBoolParameter
 Yes

MC_ReadActualPosition
 Yes

MC_PositionProfile
 Yes

MC_VelocityProfile
 Yes

MC_AccelerationProfile
 Yes







Multi-Axis Function Blocks

Supported Yes / No

Comments (<= 48 char.)

MC_CamTableSelect
 Yes

MC_CamIn
 Yes

MC_CamOut
 Yes

MC_GearIn
 Yes

MC_GearOut
 Yes

MC_Phasing
 Yes


Table 3: Short overview of the Function Blocks



Appendix A 3.1 MoveAbsolute

If Supported
 MC_MoveAbsolute
 Sup. Y/N
 Comments
VAR_IN_OUT

B
 Axis
 Yes

VAR_INPUT

B
 Execute
 Yes

B
 Position
 Yes

E
 Velocity
 Yes

E
 Acceleration
 Yes

E
 Deceleration
 Yes

E
 Jerk
 Yes

E
 Direction
 Yes

E
 BufferMode
 Yes

VAR_OUTPUT

B
 Done
 Yes

E
 Busy
 Yes

E
 Active
 Yes

E
 CommandAborted
 Yes

B
 Error
 Yes

E
 ErrorID
 Yes





Appendix A 3.2 MoveRelative

If Supported
 MC_MoveRelative
 Sup. Y/N
 Comments
VAR_IN_OUT

B
 Axis
 Yes

VAR_INPUT
B
 Execute
 Yes

B
 Distance
 Yes

E
 Velocity
 Yes

E
 Acceleration
 Yes

E
 Deceleration
 Yes

E
 Jerk
 Yes

E
 BufferMode
 Yes

VAR_OUTPUT

B
 Done
 Yes

E
 Busy
 Yes

E
 Active
 Yes

E
 CommandAborted
 Yes

B
 Error
 Yes

E
 ErrorID
 Yes





Appendix A 3.3 MoveAdditive

If Supported
 MC_MoveAdditive
 Sup. Y/N
 Comments
VAR_IN_OUT

B
 Axis
 Yes

VAR_INPUT

B
 Execute
 Yes

B
 Distance
 Yes

E
 Velocity
 Yes

E
 Acceleration
 Yes

E
 Deceleration
 Yes

E
 Jerk
 Yes

E
 BufferMode
 Yes

VAR_OUTPUT
B
 Done
 Yes

E
 Busy
 Yes

E
 Active
 Yes

E
 CommandAborted
 Yes

B
 Error
 Yes

E
 ErrorID
 Yes





Appendix A 3.4 MoveSuperimposed

If Supported
 MC_MoveSuperimposed
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Axis
 Yes

VAR_INPUT
B
 Execute
 Yes

B
 Distance
 Yes

E
 VelocityDiff
 Yes

E
 Acceleration
 Yes

E
 Deceleration
 Yes

E
 Jerk
 Yes

VAR_OUTPUT
B
 Done
 Yes

E
 Busy
 Yes

E
 Active
 Yes

E
 CommandAborted
 Yes

B
 Error
 Yes

E
 ErrorID
 Yes





Appendix A 3.5 MoveVelocity

If Supported
 MC_MoveVelocity
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Axis
 Yes

VAR_INPUT
B
 Execute
 Yes

E
 Velocity
 Yes

E
 Acceleration
 Yes

E
 Deceleration
 Yes

E

Jerk

Yes



E

Direction
 Yes

E
 BufferMode
 Yes

VAR_OUTPUT
B
 InVelocity
 Yes

E
 Busy
 Yes

E
 Active
 Yes

E
 CommandAborted
 Yes

B
 Error
 Yes

E
 ErrorID
 Yes





Appendix A 3.6 Home

If Supported
 MC_Home
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Axis
 Yes

VAR_INPUT
B
 Execute
 Yes

B
 Position
 Yes

E
 HomingMode
 Yes

E
 BufferMode
 No

VAR_OUTPUT
B
 Done
 Yes

E
 Busy
 No

E
 Active
 No

E
 CommandAborted
 Yes

B
 Error
 Yes

E
 ErrorID
 Yes





Appendix A 3.7 Stop

If Supported
 MC_Stop
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Axis
 Yes

VAR_INPUT
B
 Execute
 Yes

E
 Deceleration
 Yes

E
 Jerk
 Yes

E
 BufferMode
 No

VAR_OUTPUT
B
 Done
 Yes

E
 Busy
 No

E
 Active
 No

E
 CommandAborted
 No

B
 Error
 Yes

E
 ErrorID
 Yes





Appendix A 3.8 Power

If Supported
 MC_Power
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Axis
 Yes

VAR_INPUT
B
 Enable
 Yes

E
 Enable_Positive
 No

E
 Enable_Negative
 No

E
 BufferMode
 No

VAR_OUTPUT
B
 Status
 Yes

E
 Busy
 No

E
 Active
 No

B
 Error
 Yes

E
 ErrorID
 Yes





Appendix A 3.9 ReadStatus

If Supported
 MC_ReadStatus
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Axis
 Yes

VAR_INPUT
B
 Enable
 Yes

VAR_OUTPUT
B
 Valid
 Yes

E
 Busy
 No

B
 Error
 Yes

E
 ErrorID
 Yes

B
 Disabled
 Yes

B
 Errorstop
 Yes

B
 Stopping
 Yes

B
 StandStill
 Yes

B
 DiscreteMotion
 Yes

B
 ContinuousMotion
 Yes

E
 SynchronizedMotion
 Yes

E
 Homing
 Yes

E
 ConstantVelocity
 Yes

E
 Accelerating
 Yes

E
 Decelerating
 Yes





Appendix A 3.10 ReadAxisError

If Supported
 MC_ReadAxisError
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Axis
 Yes

VAR_INPUT


Enable
 Yes

VAR_OUTPUT
B
 Valid
 Yes

E
 Busy
 No

B
 Error
 Yes

B
 ErrorID
 Yes





Appendix A 3.11 Reset

If Supported
 MC_Reset
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Axis
 Yes

VAR_INPUT
B
 Execute
 Yes

VAR_OUTPUT
B
 Done
 Yes

E
 Busy
 No

B
 Error
 Yes

B
 ErrorID
 Yes





Appendix A 3.12 ReadParameter

If Supported
 MC_ReadParameter
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Axis
 Yes

VAR_INPUT
B
 Enable
 Yes

B
 ParameterNumber
 Yes

VAR_OUTPUT
B
 Valid
 Yes

E
 Busy
 No

B
 Error
 Yes

E
 ErrorID
 Yes

B
 Value
 Yes





Appendix A 3.13 ReadBoolParameter

If Supported
 MC_ReadBoolParameter
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Axis
 Yes

VAR_INPUT
B
 Enable
 Yes

B
 ParameterNumber
 Yes

VAR_OUTPUT
B
 Valid
 Yes

E
 Busy
 No

B
 Error
 Yes

E
 ErrorID
 Yes

B
 Value
 Yes





Name

B/E

R/W

Sup. Y/N

Comments

CommandedPosition
 B
 R
 Yes

SWLimitPos
 E
 R/W
 Yes

SWLimitNeg
 E
 R/W
 Yes

EnableLimitPos
 E
 R/W
 Yes

EnableLimitNeg
 E
 R/W
 Yes

EnablePosLagMonitoring
 E
 R/W
 No

MaxPositionLag

E

R/W

No



MaxVelocitySystem
 E
 R
 Yes

MaxVelocityAppl
 B
 R/W
 Yes

ActualVelocity
 B
 R
 Yes

CommandedVelocity
 B
 R
 Yes

MaxAccelerationSystem
 E
 R
 Yes

MaxAccelerationAppl
 E
 R/W
 Yes


E
 R
 Yes

MaxDecelerationAppl
 E
 R/W
 Yes

MaxJerk
 E
 R/W
 Yes

Table 4: Parameters for ReadParameter and WriteParameter




Appendix A 3.14 WriteParameter

If Supported
 MC_WriteParameter
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Axis
 Yes

VAR_INPUT
B
 Execute
 Yes

B
 ParameterNumber
 Yes

B
 Value
 Yes

VAR_OUTPUT
B
 Done
 Yes

E
 Busy
 No

E
 Buffered
 No

B
 Error
 Yes

E
 ErrorID
 Yes





Appendix A 3.15 WriteBoolParameter

If Supported
 MC_WriteBoolParameter
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Axis
 Yes

VAR_INPUT
B
 Execute
 Yes

B
 ParameterNumber
 Yes

B
 Value
 Yes

VAR_OUTPUT
B
 Done
 Yes

E
 Busy
 No

E
 Buffered
 No

B
 Error
 Yes

E
 ErrorID
 Yes





Appendix A 3.16 ReadActualPosition

If Supported
 MC_ReadActualPosition
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Axis
 Yes

VAR_INPUT
B
 Enable
 Yes

VAR_OUTPUT
B
 Valid
 Yes

E
 Busy
 No

B
 Error
 Yes

E
 ErrorID
 Yes

B
 Position
 Yes





Appendix A 3.17 PositionProfile

If Supported
 MC_PositionProfile
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Axis
 Yes

B
 TimePosition
 Yes

VAR_INPUT
B
 Execute
 Yes

B
 TimeScale
 Yes

E
 PositionScale
 Yes

E
 Offset
 Yes

E
 BufferMode
 Yes

VAR_OUTPUT
B
 Done
 Yes

E
 Busy
 Yes

E
 Active
 Yes

E
 CommandAborted
 Yes

B
 Error
 Yes

E
 ErrorID
 Yes





Appendix A 3.18 VelocityProfile

If Supported
 MC_VelocityProfile
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Axis
 Yes

B
 TimeVelocity
 Yes

VAR_INPUT
B
 Execute
 Yes

B
 TimeScale
 Yes

E
 VelocityScale
 Yes

E
 Offset
 Yes

E
 BufferMode
 Yes

VAR_OUTPUT
B
 Done
 Yes

E
 Busy
 Yes

E
 Active
 Yes

E
 CommandAborted
 Yes

B
 Error
 Yes

E
 ErrorID
 Yes




Appendix A 3.19 AccelerationProfile

If Supported
 MC_AccelerationProfile
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Axis
 Yes

B
 TimeAcceleration
 Yes

VAR_INPUT
B
 Execute
 Yes

B
 TimeScale
 Yes

E
 AccelerationScale
 Yes

E
 Offset
 Yes

E
 BufferMode
 Yes

VAR_OUTPUT
B
 Done
 Yes

E
 Busy
 Yes

E
 Active
 Yes

E
 CommandAborted
 Yes

B
 Error
 Yes

E
 ErrorID
 Yes





Appendix A 3.20 CamTableSelect

If Supported
 MC_CamTableSelect
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Master
 Yes

B
 Slave
 Yes

B
 CamTable
 Yes

VAR_INPUT
B
 Execute
 Yes

E
 Periodic
 Yes

E
 MasterAbsolute
 Yes

E
 SlaveAbsolute
 Yes

VAR_OUTPUT
B
 Done
 Yes

E
 Busy
 No

B
 Error
 Yes

E
 ErrorID
 Yes

E
 CamTableID
 Yes





Appendix A 3.21 CamIn

If Supported
 MC_CamIn
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Master
 Yes

B
 Slave
 Yes

VAR_INPUT
B
 Execute
 Yes

E
 MasterOffset
 Yes

E
 SlaveOffset
 Yes

E
 MasterScaling
 Yes

E
 SlaveScaling
 Yes

E
 StartMode
 Yes

E
 CamTableID
 Yes

E
 BufferMode
 Yes

VAR_OUTPUT
B
 InSync
 Yes

E
 Busy
 Yes

E
 Active
 Yes

E
 CommandAborted
 Yes

B
 Error
 Yes

E
 ErrorID
 Yes

E
 EndOfProfile
 Yes





Appendix A 3.22 CamOut

If Supported
 MC_CamOut
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Slave
 Yes

VAR_INPUT
B
 Execute
 Yes

VAR_OUTPUT
B
 Done
 Yes

E
 Busy
 Yes

B
 Error
 Yes

E
 ErrorID
 Yes





Appendix A 3.23 GearIn

If Supported
 MC_GearIn
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Master
 Yes

B
 Slave
 Yes

VAR_INPUT
B
 Execute
 Yes

B
 RatioNumerator
 Yes

B
 RatioDenominator
 Yes

E
 Acceleration
 Yes

E
 Deceleration
 Yes

E
 Jerk
 Yes

E
 BufferMode
 Yes

VAR_OUTPUT
B
 InGear
 Yes

E
 Busy
 Yes

E
 Active
 Yes

E
 CommandAborted
 Yes

B
 Error
 Yes

E
 ErrorID
 Yes





Appendix A 3.24 GearOut

If Supported
 MC_GearOut
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Slave
 Yes

VAR_INPUT
B
 Execute
 Yes

VAR_OUTPUT
B
 Done
 Yes

E
 Busy
 No

B
 Error
 Yes

E
 ErrorID
 Yes





Appendix A 3.25 Phasing

If Supported
 MC_Phasing
 Sup. Y/N
 Comments
VAR_IN_OUT
B
 Master
 Yes

B
 Slave
 Yes

VAR_INPUT
B
 Execute
 Yes

B
 PhaseShift
 Yes

E
 Velocity
 Yes

E
 Acceleration
 Yes

E
 Deceleration
 Yes

E
 Jerk
 Yes

E
 BufferMode
 Yes

VAR_OUTPUT
B
 Done
 Yes

E
 Busy
 Yes

E
 Active
 Yes

E
 CommandAborted
 Yes

B
 Error
 Yes

E
 ErrorID
 Yes

Appendix A 4. The PLCopen Motion Control Logo and Its Usage

For quick identification of compliant products, PLCopen has developed a logo for the motion control Function Blocks:





Figure 1: The PLCopen Motion Control Logo


This motion control logo is owned and trademarked by PLCopen.


In order to use this logo free-of-charge, the relevant company has to fulfill all the following requirements:
  1. the company has to be a voting member of PLCopen;
  2. the company has to comply with the existing specification, as specified by the PLCopen Task Force Motion Control, and as published by PLCopen, and of which this statement is a part;
  3. this compliance application is provided in written form by the company to PLCopen, clearly stating the applicable software package and the supporting elements of all the specified tables, as specified in the document itself;
  4. in case of non-fulfillment, which has to be decided by PLCopen, the company will receive a written statement concerning this from PLCopen. The company will have a one month period to either adopt their software package in such a way that it complies, represented by the issuing of a new compliance statement, or remove all reference to the specification, including the use of the logo, from all their specification, be it technical or promotional material;
  5. the logo has to be used as is - meaning the full logo. It may be altered in size providing the original scale and color setting is kept.
  6. the logo has to be used in the context of Motion Control.