# Parameters of the Universal Kinematics (kinematik[91].*, trafo[j].*

Universal Kinematics parameters can be configured in the structure kinematik[91].* in CNC Builds V2.11.2xxx and in the structures of a kinematic ID 91 for simple and multiple transformations trafo[j].* and kin_step[i].trafo[j].* in CNC Builds as of V3.00 and higher.

## Notice

Further details on Universal Kinematics are contained in the function description [FCT-C27].

## Additional information

- Zero orientation of the tool (P-CHAN-00285)
- Zero position of the tool (P-CHAN-00286)
- Angle transformation (P-CHAN-00287)
- Programming mode (P-CHAN-00288)
- Number of axes (P-CHAN-00289)
- Axis sequence (P-CHAN-00290)
- Axis-specific data (kinematik[91].axis[k].*, trafo[j].axis[k].*)
- Mode for the transformation between axis values and Cart. coordinates (P-CHAN-00294)
- Transformation between axis values and Cart. coordinates (P-CHAN-00295)