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ID : 11139
List of TcCOM Modules
The "TwinCAT3 Robot Motion Control" license enables all the following modules.
The "TwinCAT3 Robot Motion Monitor" license, which is a free license, enables only the following modules marked with (*).
| Module name | Overview |
|---|---|
| TcDwNcDrivePos | Allows TwinCAT Motion to issue to the robot an operation command as position type data. |
| TcDwNcDriveJnt | Allows TwinCAT Motion to issue to the robot an operation command as joint type data. |
| TcDwNcDriveConvertible | Allows TwinCAT Motion to issue to the robot an operation command as either position type or joint type data. |
| TcDwNcEncPos | Outputs to TwinCAT Motion the command position or the current position of the robot as position type data. |
| TcDwNcEncJnt | Outputs to TwinCAT Motion the command position or the current position of the robot as joint type data. |
| TcDwNcEncConvertible | Outputs to TwinCAT Motion the command position or the current position of the robot as either position type or joint type data. |
| TcDwNcCtrl | This auxiliary module is used for operating the robot through TwinCAT Motion. |
| TcDwRobotMonitorPos(*） | Outputs to TwinCAT PLC the robot position data as position type data. |
| TcDwRobotMonitorJnt(*） | Outputs to TwinCAT PLC the robot position data as joint type data. |
| TcDwRobotMonitorTrn(*） | Outputs to TwinCAT PLC the robot position data as homogeneous transform matrix type data. |
| TcDwServoData(*） | Outputs the servo internal data of all axes to TwinCAT PLC. |
ID : 11139