Source code extension/encoding

To complete the generation process, integrate your user transformation equations in the functions

Forward
Backward
TrafoSupported
GetDimensions

. They are already created as examples in the MyKinTrafo.cpp using the TwinCAT3 template.

User tip

If the transformation requires more than 5 axes, adapt the constructor as follows. If there are fewer than 5 axes, the values must be reduced correspondingly.

Setting the constructor after generation using TwinCAT3 templates

Adapted constructor due to high number of axes

If you enter a value in the constructor that is higher than the number of axes in the channel, the error message 20658 is output. This error message is also output if there are gaps in the configuration of axes in the channel.

Possible solutions:

Check and correct the gaps in the configuration
Adapt the constructor to the number of the axes in the channel used

After implementing the functions, recreate the driver and re-activate the configuration.