Objects

TwinCAT 3 has a modular structure.

This modular structure is also used for Motion Control.

The individual motion objects can be channel-dependent, e.g. axes in the axis channel or kinematic transformations from the "NC Channel (for Kinematic Transformation)" or channel-independent.

The independent objects are managed via the Objects node. These are, for example, the Collision Avoidance and Coordinated Motion groups.