# 5-Axis functionality

## Additional information

- Rotation Tool Centre Point (RTCP)(# TRAFO OFF)
- Transformation of PCS positions (#TRAFO PCS ON/OFF)
- Transformation stack (#TRAFO STACK)
- Tool Length Compensation (#TLC ON/OFF)
- Orienting tool (#TOOL ORI CS)
- Machine kinematics (#KIN ID)
- Modify kinematic characteristics (#KIN DATA)
- Positioning without compensation motion (#PTP ON/OFF, #AX LOCK ALL, #AX UNLOCK ALL)
- Coordinate systems
- Orientation programming
- Status & Turn (IS, IT)
- Multi-step transformations