How to use "CreateTransformRotateAxis"?

Dear All

    I want to make a robot animation through "CreateTransformRotateAxis ", but I do not know exactly the usgae of this API. I make and apply transform matrics for every link

of the robot, when the position of the robot changes, shoud I attain the componet's transform again? Dose the component's transform change after the robot moved?

  Any help is of great apprection !

SolidworksApi macros