# Interfacing transformation via TcCOM

In TwinCAT 3, transformation can be interfaced to the CNC via the TcCOM infrastructure.

Interfacing kinematic transformation via TcCOM in TwinCAT3

## Attention

The transformation is used in different "timing" phases of NC program execution within one NC channel, possibly simultaneously. This is why the kinematic transformation must be created with reentrant capability and may not use any global data.

## Attention

Concatenation of the forwards and backward transformation must again result in the identical starting position.
The positions transferred are supplied in [0.1 um]. The transformation results must be available in this resolution range.

## Additional information

- TcCOM transformation interface