# Transformation type

Transformation type | Type | Number of axes | Number of workpiece axes | Special features
--- | --- | --- | --- | ---
1 | RTCP | 5 |  |
2 | RTCP | 5 |  |
3 | RTCP | 4 |  |
4 | RTCP | 4 |  |
5 | RTCP | 4 |  |
6 | RTCP | 4 |  |
7 | RTCP | 5 |  |
8 | RTCP | 5 |  |
9 | RTCP | 5 |  |
10 | RTCP | 5 |  |
11 | RTCP | 5 |  |
12 | Complete | 3 |  | 3-axis parallel kinematics with constant orientation
13/14 | RTCP | 3 |  | Face machining (#FACE)
16 | RTCP | 5 |  |
17 | RTCP | 5 |  | 3 machine axes, 2 auxiliary axes
18 | RTCP | 5 |  | 3 machine axes, 2 auxiliary axes
19 | Complete | 5 |  | 3-column parallel kinematics, 5 machine axes
21 | Complete | 4 |  | LAMBDA shear kinematics with compensation of rot. C axis, constant orientation, 4 machine axes
22 | RTCP | 5 | 2 | 2 axes in workpiece, 3 machine axes
23 | RTCP | 5 |  |
25 | RTCP | 5 |  |
28 | RTCP | 5 |  |
30 | RTCP | 4 |  |
33 | RTCP | 5 |  |
34 | RTCP | 4 |  |
36 | RTCP | 4 |  | SCARA

Transformation type | Type | Number of axes | Number of workpiece axes | Special features
--- | --- | --- | --- | ---
37 | Complete | 3 |  | Delta robot
45 | Complete | 6 |  | 6-axis articulated robot
52 | RTCP | 5 |  |
57 | RTCP | 5 |  | Rotary/swivel table
58 | RTCP | 5 |  | Rotary/swivel table
59 | RTCP | 5 |  | Cardanic head
60 | RTCP | 5 |  | Cardanic head
61 | RTCP | 5 |  |
63 | RTCP | 5 |  |
64 | RTCP | 6 |  |
70 | RTCP | 5 |  |
76 | Complete | 5 |  | Mechanical TCP
80 | RTCP | 5 |  |
81 | RTCP | 5 |  |
82 | RTCP | 6 |  |
85 | RTCP | 2 |  |
96 | Complete | 4 |  | 4-axis palletising robot
206 | Complete | 5 |  | 5-axis robot on linear unit
207 | RTCP | 5 |  |
208 | Complete | 4 |  | 4-axis robot on linear unit
209 | RTCP | 5 |  | Tripod with rotary/swivel table
213 | Complete | 5 |  | Five-axis palletising robot