Supported Transformation

Overview

Transformation type	Schema	Required TwinCAT function (level)
Static Transformation		TF5110 TwinCAT 3 Kinematic Transformation (Level 1)

2D kinematic transformations

Transformation type	Schema	Required TwinCAT function (level)
2D-Kinematics Type 1 (P_2C)		TF5111 TwinCAT 3 Kinematic Transformation (Level 2)
2D-Kinematics Type 2 (P_2C2)		TF5111 TwinCAT 3 Kinematic Transformation (Level 2)
2D-Kinematics Type 3 (S_CC)		TF5111 TwinCAT 3 Kinematic Transformation (Level 2)
2D-Kinematics H-Bot (P_2Y)		TF5111 TwinCAT 3 Kinematic Transformation (Level 2)
2D-Kinematics Type 5 (S_CC)		TF5111 TwinCAT 3 Kinematic Transformation (Level 2)
2D-Kinematics Type 6 (P_2X)		TF5111 TwinCAT 3 Kinematic Transformation (Level 2)
2D-Scissor Kinematics Type 1 (P_2X)		TF5111 TwinCAT 3 Kinematic Transformation (Level 2)

3D kinematic transformations

Transformation type	Schema	Required TwinCAT function (level)
3D-Kinematics Type 8 (S_CCC)		TF5112 TwinCAT 3 Kinematic Transformation (Level 3)
3D-Delta Type 1 (P_3C)		TF5112 TwinCAT 3 Kinematic Transformation (Level 3)
3D-Delta Type 2 (P_3C2)		TF5112 TwinCAT 3 Kinematic Transformation (Level 3)
3D-Delta T Type 3 (P_3C3)		TF5112 TwinCAT 3 Kinematic Transformation (Level 3)
3D-Delta Y Type 4 (P_3C4)		TF5112 TwinCAT 3 Kinematic Transformation (Level 3)
3D-Tripod Type 1 (P_3Z)		TF5112 TwinCAT 3 Kinematic Transformation (Level 3)
3D-Tripod Type 2 (P_3L)		TF5112 TwinCAT 3 Kinematic Transformation (Level 3)
3D-Cable Type 1 (P_3Z)		TF5112 TwinCAT 3 Kinematic Transformation (Level 3)
3D-Cable Type 2 (P_3L)		TF5112 TwinCAT 3 Kinematic Transformation (Level 3)
3D-Kinematics Type 7 (PXX_SZ)		TF5112 TwinCAT 3 Kinematic Transformation (Level 3)

4D kinematic transformations

Transformation type	Schema	Required TwinCAT function (level)
4D-SCARA (S_CCZC)		TF5112 TwinCAT 3 Kinematic Transformation (Level 3)
4D-Kinematics Type 6 (S_XCZC)		TF5112 TwinCAT 3 Kinematic Transformation (Level 3)
4D-Cable (4D_P_4L)		TF5112 TwinCAT 3 Kinematic Transformation (Level 3)

5D and 6D kinematic transformations (export limited)

	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 or included in the TF5400 TwinCAT Advanced Motion Pack Setup from the website. If required, please get in touch with your sales contact.

Transformation type	Schema	Required TwinCAT function (level)
5D-Kinematics Type 2 (XYZab)		TF5113 TwinCAT 3 Kinematic Transformation (Level 4)
5D-Kinematics Type 3 (XYZAB)		TF5113 TwinCAT 3 Kinematic Transformation (Level 4)
Stewart Platform (P_6L)		TF5113 TwinCAT 3 Kinematic Transformation (Level 4)
Six Axis Articulated (S_CBBCBC)		TF5113 TwinCAT 3 Kinematic Transformation (Level 4)

Additional objects

The following objects can be created and selected in the corresponding kinematics. A drop-down parameter list in the kinematics is used for the selection. Select the corresponding object ID (OTCID).

Object type	Description	Required level and version
Tool Offset	Tool offset - describes a tool at the level of the kinematics flange.	TF5110 TwinCAT 3 Kinematic Transformation (Level 1)
Tool Linear	Linear tool - describes a 1D tool mounted on the kinematics flange, which offers the option to move the TCP towards the tool.	TF5110 TwinCAT 3 Kinematic Transformation (Level 1)
Drive Torque	Drive torque - represents the inertia and the efficiency of the motor and drive, to enable more precise calculation of the dynamic model.	TF5110 TwinCAT 3 Kinematic Transformation (Level 1)
Coordinate Frame	Coordinate system - describes a user-defined coordinate system.	TF5110 TwinCAT 3 Kinematic Transformation (Level 1)