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General documentation
Diagnosis manual	Kinematic transformation	System parameters	Programming manual

Function descriptions (FCT)
A1	Position lag monitoring	C1	M and H functions	C20	Online tool compensation	D1	Dynamic characteristic values
A2	Software limit switches	C2	Coordinate systems and offsets	C22	Export of V.E. variables in PLC structures	D2	Feedforward control
A3	Position monitoring	C3	Axis collision monitoring	C23	File caching
A4	Offset limits in manual mode	C4	Measuring	C24	Limiting decoder look ahead
A7	Axis filters	C5	Axis compensation	C25	Friction compensation (legacy – included in FCT-C5)	M1	Homing
A8	Oscillating axes	C6	Simulation contour visualization	C26	Volumetric compensation	M2	Single step mode
A9	Axis coupling via HLI	C7	Forward/backward motion on the path	C27	Universal Kinematics	M3	Distance control
A10	Parameterising the DRIVE command	C8	Real-time information about the CNC (legacy – only as a PDF)	C28	Deleting distance to go	M5	Round/profiled tube machining
A11	Collision detection by lift function	C9	Syntax check	C30	Dynamic coordinate system	M6	Skipping NC blocks
A12	Improved Position Control	C10	External tool administration	C31	Service interface	M7	Error management
		C11	Gantry operation	C32	Real-time cycles	M8	Fixed stop
		C12	CNC program encryption	C34	Estimation of future data	M9	Diagnosis upload
		C13	Access to CNC objects	C35	Coupling kinematics
		C14	Workspace/protection space monitoring	C36	Vibration Guard	S1	Spindle
		C15	Inserting NC programs	C37	FIR filters	S2	Spindle modes
		C17	Contour visualisation	C39	MultiCore	S3	Turning functions
		C19	Data streaming – incremental NC program	C40	Contour look-ahead
				C41	Inserting STOP marks
				C42	Real-time grinding
				C43	Dynamic limitation of axis positions
				C45	Velocity smoothing
				C47	TCP velocity limit

Configuration / Parameterisation (MDS)
[MDS-AXIS] Axis parameter	[MDS-CHAN] Channel parameters	[MDS-CLMP] Clamp position offset data	[MDS-COMP] Axis compensation	[MDS-EXTV] External variables of CNC
[MDS-MANU] Manual mode parameter	[MDS-RTCF] Configuration list of real-time parameters	[MDS-SECO] Configuration list for scene visualisation and collision monitoring	[MDS-SERC-S3] SERCOS device	[MDS-STUP] Start-up parameters
[MDS-TOOL] Tool data	[MDS-VOLC] Volumetric compensation	[MDS-ZERO] Zero offsets

Interfaces (HLI, kernelv, McCOM)
HLI	kernelv	McCOM	McCOM-Ext.Komp.
HLI (up to V2.20xx)

PLC libraries (MCP)
ISG Motion Control Platform for PLCopen	PLC library McpBase	PLC library McpPLCopen Part 1	PLC library McpPLCopen Part 4	PLC library McpControl
	PLC examples	PLC library McpPLCopen Part 1 Ext	PLC library McpPLCopen Part 4 Ext

Commissioning (CMS)
A1	Starting up axes	A2	Setting up a kinematic transformation

Cycles
Machining cycles	Calibrating and measuring	Kinematic optimisation	Additional cycles