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