TwinCAT 3 Kinematic Transformation Manual

This manual provides comprehensive configuration and programming guidance for kinematic transformations in TwinCAT 3, covering a wide range of 2D, 3D, 4D, 5D, and 6D kinematics including Delta, SCARA, Stewart Platform, and articulated robots. It details installation, supported transformation types, user-specific transformations, PLC library function blocks, and parameters for drive torque, tool offset, and coordinate systems.