# Angle programming

Angles are programmed in all other programming modes. These angles are adopted as axis angles in RTCP mode (Rotation Tool Centre Point mode).

With complete transformation the programmed angles are used to determine tool orientation from which the axis angles are then calculated. Therefore, the way in which tool orientation is calculated must be specified from the programmed angles.

This also occurs with a kinematic chain which typically corresponds to the kinematic chain of the machine but without axis offsets. For example, the CA machine ID09 can be programmed in CA programming mode which includes the kinematic chain XYZCA. Universal Kinematics is capable of considering axis offsets to determine axis values.

## Additional information

- Classic programming modes
- Compliance and direct programming