# Details of realisation within the ISG-MCP

The aspects of the ISG-MCP realisation will be discussed in this section in the case of which the behaviour of the FB cannot be precisely forecast with the PLCopen specification 1.0 alone.

Reasons for this may be:

- Insufficient definitions in the PLCopen specification 1.0
- Characteristics of the motion control engine

## Additional information

- Startup
- General details of the operating principle of the PLCopen FBs
- Realisation of the FBs
- Interaction of the FB with the FBSD and error handling
- Versioning
- Further general system characteristics