How to Use the TwinCAT Motion Linkage Function

The TwinCAT Motion linkage function enables a PLC to issue a range of commands to the robot by using TwinCAT Component Object Model (TcCOM).

How to Add a TcCOM Module

Below is how to add a TcCOM module.

1

Register a license for the TwinCAT Motion linkage function on the RC9 robot controller, then restart the controller.

After a restart, receive [TwinCAT XAE] data from the controller through WINCAPSIII.

2

After receiving the data, save the project.

A module definition file, which has an extension of "xti", will be saved in [TwinCATData] in the project folder.

3

Import the module definition file to TwinCAT XAE Shell.

For the module "TcDwNcCtrl", right click [TcDwCtrl] and select [Insert Existing Item...].
For other modules, right click [Robot *] and select [Insert Existing Item...].

Context Setting

Set context as shown in the image below.

Apply this context setting to all modules.