Borrowing it
Nothing to install: this file belongs to efranceschetti/festo-codesys-mcp. Take a copy, put it at the same path in your own repository, and replace the rules that are about this project with yours.
curl -O https://raw.githubusercontent.com/efranceschetti/festo-codesys-mcp/main/.claude/skills/motion-control/SKILL.mdgit clone --depth 1 https://github.com/efranceschetti/festo-codesys-mcpWrote this? Show the measurements
A badge with what this costs and how it scanned, read live from this page, so it follows the numbers instead of freezing them. Markdown for a README, HTML for a documentation site or a project page.
[](https://agentmods.dev/skills/efranceschetti/festo-codesys-mcp/motion-control)<a href="https://agentmods.dev/skills/efranceschetti/festo-codesys-mcp/motion-control"><img src="https://agentmods.dev/badge/skills/efranceschetti/festo-codesys-mcp/motion-control.svg" alt="Measured on agentmods" height="20"></a>What it costs to keep this loaded
Counted locally with the o200k_base tokenizer, which is exact for GPT models; Claude uses its own tokenizer and its counts differ. Treat this as one consistent yardstick across the catalogue rather than a bill. Prices are per million input tokens.
| Model | Per session | Once invoked |
|---|---|---|
| Fable 5.1 | $0.00072 | $0.00623 |
| Opus 5 | $0.00036 | $0.00311 |
| Sonnet 5 | $0.00014 | $0.00125 |
| Haiku 4.5 | $0.00007 | $0.00062 |
Grade A, and why
motion-control scanned grade A with 0 findings against 26 rules in 11 categories — prompt injection, anti-refusal, data exfiltration, privilege escalation, supply chain, agent snooping, system-prompt leakage, SSRF and excessive agency — measured 7d ago.
A static scan of the body, not an audit. Every finding is printed with the line that produced it so you can judge whether it matters here. A mod is markdown that instructs an agent; that is exactly why what it instructs is worth reading.
Nothing flagged
None of the 26 patterns this scan looks for appear in this file: no shell pipes, no recursive deletes, no credential paths, no hidden text, no instruction-override or anti-refusal phrasing, no agent-config snooping. That is not a guarantee, it is the absence of the things that are checkable.
How it starts
The opening of the file, as written. The whole thing — 29 lines — stays where its author put it; the contents beside it link to each section on GitHub.
Motion Control (EtherCAT / CiA 402)
Inventing MC_* FB signatures is the most damaging failure mode of this domain. Exact names only.
1. Load the references (both, always)
plc_knowledgeaction=topicfesto-ptp— all 24 MC_*_Festo blocks with exact signatures, tested library versions, task configuration.plc_knowledgeaction=topicethercat-cia402— state machine, controlword/statusword bits.- Stepper (CMMT-ST) -> also topic
festo-cmmt-st. Absolute encoder homing = Method 37 (no motion).
2. Hard rules
- Festo blocks end in
_Festo(MC_Power_Festo, MC_Home_Festo, MC_MoveAbsolute_Festo, MC_Stop_Festo) — NEVER generic MC_Power. - Do NOT use
plc_librarymotion blocks for servo — those are for simple motors. Servo = Festo PtP library directly. - Canonical sequence: MC_Power_Festo -> MC_Home_Festo -> MC_Move*_Festo -> MC_Stop_Festo.
- Every axis FB needs fault handling: read bError/nErrorID, reset via MC_Reset_Festo.
3. Troubleshooting: axis reads position but won't move
Very common at commissioning — the watch shows actual position updating, but a jog/move does nothing. Position feedback arrives on the input PDO even with power off, so "it reads position" only proves EtherCAT input mapping works; motion needs the drive in Operation Enabled. Walk the ordered checklist in plc_knowledge action=topic ethercat-cia402 ("Axis Reads Position but Won't Move"): STO not released (suspect #1) -> power stage unpowered -> drive in fault (MC_Reset) -> slave not fully Operational (OP, not SafeOP) -> soft-limit blocking that direction (test the opposite direction first). Diagnose from the servo FB's own state / MC_Power.Status, not the sequence/choreography state shown on the HMI.
4. Deep protocol questions
Raw CoE objects, STO/SBC, enable-without-library -> plc_knowledge action=read_manual hw-cmmt-as-s1-reference.
5. Then continue as normal ST work
Follow the writing-st-code skill for conventions/validation, and plcopen-xml for export. Record axis configuration (drive model, homing method, gear ratios) in .claude/memory/hardware.md.
What this file has done since we first saw it
Hashed on every crawl. A supply-chain change to an agent config is a question of when, not whether, so the history is kept rather than the latest state alone.
- 7d ago First seen · 29 lines · 72 tokens per session scan A 92838cc07ca6
motion-control is a skill published in the GitHub repository efranceschetti/festo-codesys-mcp (1 stars, last pushed 2d ago), licensed MIT. It adds 72 tokens to every session and 623 once invoked, about $0.0004 per session on Opus 5. A static security scan graded it A with 0 findings. No closer match exists in the catalogue, so it is treated as the original; first seen 2026-08-31.
Other skills, from other repositories
codesys
Comprehensive operational skill specification for Anthropic Claude to automate, script, troubleshoot, and optimize CODESYS V3.5, IEC 61131-3 Structured Text (ST), ScriptEngine Python automation, EtherCAT/PROFINET, and OPC UA.
tia.init
Initialize or update the current project's AGENTS.md with the TIA harness operating guide. USE WHEN the user asks to "init / bootstrap / set up the TIA harness", "add the harness guidance to AGENTS.md", or "update the TIA harness section / refresh the harness guide in this project". Idempotent: injects the guide…
cpu.select
Recommend a Siemens S7-1500/S7-1200 CPU family + variant + order number (MLFB) from an engineering need (I/O count, scan/performance, memory, communication ports, safety, redundancy, motion). USE when the user asks "which CPU / PLC should I use", gives selection criteria instead of a model, or needs a typeIdentifier…
spec.validate
Validate a TIA project-spec against the JSON Schema AND the deterministic cross-field engineering rules (same-subnet, unique names, OrderNumber: /V format, module limits, language-by-family, and the G5 safety rule). USE when the user provides or edits a project-spec, asks to "validate / check / lint my spec", or…
tia.handoff
Prepare a human-approval envelope for a GATED operation — download / CPU-STOP (G3), go-online (G4), network scan (G7), master-secret/UMAC (G6), safety/F (G5). USE WHEN the user wants to "download / deploy / go online / commission", or after tia.verify is clean and the next step touches the physical controller, the…
tia.scaffold
Build a TIA project FROM a validated project-spec — the create-from-spec pipeline: subnets → devices → modules → network/IP → tag tables/tags → block shells → protection setup → compile. USE WHEN the user says "scaffold / build / create the project from this spec", "generate the TIA project", after spec.validate +…