# Setting angle transformation

## Description

In an angle programming mode (all except point-vector), programmed angles can be treated in two ways.

1. With RTCP transformation (incomplete), programmed angles are passed on directly without conversion.
   The RTCP mode is the default for most transformations of the ISG kinematics library ([KITRA]).
2. With complete transformation, the kinematics interprets the programmed angles based on the programming mode and then determines tool orientation. The axis angles are calculated from this orientation.

The setting can be made using P-CHAN-00287.

## Notice

In RTCP mode, the programmed angles are passed on to the machine.

With complete transformation, angles in the range (-π, π] are passed on to the machine.

## Attention

With complete transformation, axis angles may deviate considerably from the programmed angles. This applies in particular if rotary axes are not located at the end of the kinematic chain but in the workpiece, for example.

## Angle transformation

RTCP mode is used.

# Activate RTCP mode

kinematik[91].rtcp 1