Configuring and registering the compensation

Registering the compensation in TwinCAT

The following data is used to register a TcCOM object (TcCncServices.h)

• Type 6 (TCCNC_REGISTEROBJECT_TYPE_COMP) is default
• Group 0 is default
• Index 0 is default

The transformation is registered in the following TcCOM interface, which is defined in the file TcCncInterfaces.h.

• virtual HRESULT TCOMAPI RegisterObject     (TcCncRegis-terObject& id, ITcUnknown* ipUnk)=0;
• virtual HRESULT TCOMAPI UnregisterObject     (TcCncRegis-terObject& id)=0;

Registering the compensation in the CNC

The first time the NC command of the external compensation is executed, the TcCom object is loaded for the first time and the method “initializeCompensation” is invoked. The command is then executed.