# Further documentation concerning transformations

The function description [FCT-M5] describes transformations for tube machining.

Transformation ID | Description
--- | ---
15 | Round tube, lateral surface (3/4-axis)
78 | Round tube, projection (3/4-axis)
79 | Polygonal tube, profiled tube (3/4-axis)
90 | Round tube, lateral surface (5/6-axis)
93 | Polygonal tube, profiled tube (5/6-axis)

The function description [FCT-C27] describes the Universal Kinematics using ID 91.

The function description [FCT-C35] contains the functionality of the couple kinematic with ID 210.