Installation
The installation of TF511x Kinematic Transformation differs from version TwinCAT 3.1 Build 4024 to the previous versions.
TwinCAT Package Manager: Installation (TwinCAT 3.1 Build 4026)
From TwinCAT 3.1 Build 4026, TwinCAT products are installed via the TwinCAT Package Manager. Detailed instructions on installing products can be found in the chapter Installing workloads in the TwinCAT 3.1 Build 4026 installation instructions.
You can obtain a basic TwinCAT 3 installation via the following workloads:
- TwinCAT.Standard.XAE (Engineering)
- TwinCAT.Standard.XAR (Runtime)
For TF5110-TF5112 | TwinCAT 3 Kinematic Transformation L1-L3 please install the workloads:
- TF5400.AdvancedMotionPack.XAE (Engineering)
- TF5400.AdvancedMotionPack.XAR (Runtime)
 | TF5113 | TwinCAT Kinematic Transformation L4 TF5113 | TwinCAT 3 Kinematic Transformation L4 is subject to legal restrictions and is not included in the TF5400.AdvancedMotionPack workload. If required, please get in touch with your sales contact. |
TwinCAT setup: Installation (TwinCAT 3.1 Build 4024 and earlier)
TF5110 - TF5112 | TwinCAT 3 Kinematic Transformation L1-L3 is installed up to and including TwinCAT 3.1 Build 4024 with the setup TF5400 TwinCAT 3 Advanced Motion Pack.
| TF5113 | TwinCAT Kinematic Transformation L4 TF5113 | TwinCAT 3 Kinematic Transformation L4 is subject to legal restrictions and is not included in the TF5400 TwinCAT Advanced Motion Pack Setup from the web pages. If required, please get in touch with your sales contact. |
Function level for TF5110-TF5113
The function TF5110 - TF5113 TwinCAT 3 Kinematic Transformation is divided into four different levels depending on the number of transformation axes. A higher level includes all sublevels.
Level 1: supports the static transformation. This includes a translation and rotation of the coordinate system.
Level 2: supports Level 1 and simple (mainly 2D) kinematic transformations such as H-Bot and 2D parallel kinematics.
Level 3: Supports level 2 and more sophisticated kinematic transformations (3D, 4D), such as delta robots.
Level 4: supports Level 3 and complex kinematic transformations (up to 6D).
Additional licensing requirements
TF5110-TF5113 TwinCAT 3 Kinematic Transformation requires the TC1260 license.