Hello,
Thanks @wenbo.ruan 
I may add some Pictures about the Configuration as i have currently a project available.
The Pictures are for mapp Safety and SafeDesigner.
Disclaimer: This pictures are only for education purpose. The Safety Engineer is responsible for his own work!
1. Mandatory Setting “Velocity error monitoring”
Since newer Versions “Automatic1” is the Default setting. In older versions espacialy ACP10 you have to activate this supervision on the ACOPOS.
Automatic1, Automatic2, User-defined - Are valid Values for SafeMC axis.
2. You have to ceate a Safe Application in SafeDesigner
Creating Safe Application
3. Add Library for SafeMC
4. Add Functionblock
The AxisID comes from the Hardwaretree, similar to a SI-Input you can Drag the Axis01-ID Element to the code.
5. Configure SafeMC Parameters on the SafeMC Module
6. Compile and Install on PLC following the Safety Guides / Getting Started
Safety Commissioning
7. Check if STO is released in Cockpit
The “Drive enable switch” Status is shown in the mapp Cockpit an can be used similar to the wired ACOPOS Safety. If the SafeMC releases the STO this Value will go to TRUE.
As the “Automatic reset on start” is Disabled in this sample. You have to provide a positive Edge on “S_Control_Reset” of the “SF_oS_MOTION_Basic_BR_1” for a Reset.
Greetings
Michael