# Configuring the kinematics

## Overview

The kinematics should be configured to simulate a classic CA machine with the axes XYZCA. The kinematics is configured in three steps:

Step 1: Kinematic chain

- Tool zero position
- Description of participating axes
- Sequence of axes in the kinematic chain

Step 2: Programming mode

- Point vector, CA, BA, etc.

Step 3: Angle transformation

- Incomplete (RTCP = Rotation Tool Centre Point, i.e. rotation angles are not mapped by the transformation) or
- Complete transformation.

## Notice

Each of the components can be set by channel list files (e.g. default_sda.lis) or by variables in the NC code.

This documentation uses lists in the examples.

## Additional information

- Description of flange and tool
- Programming or description of the kinematic chain
- Setting the programming mode
- Setting angle transformation
- Notes on parameterisation