==Advantages of Kinematics and Rotation Tool Center Point (RTCP)==
RTCP takes into consideration the Kinematics of the machine to allow angular changes to the tool while keeping the tool center point at the same location relative to the machine table. Note this is true regardless of whether the Tool angle changes or the Table angle changes. The diagram below shows an example where the Tool angle is changed.
[[File:RTCP_On_Off.png|none|link=|670x350px]]
To perform RTCP an XYZ adjustment is applied to correct for XYZ shifts that occur with ABC angular changes.
For Gimbal Head type systems the Tool Tip location relative to the head pivot points must be known to compute the appropriate adjustments. This means that changes of Tool Lengths and Tool Offsets will affect the required adjustments.
For Trunnion Table table type systems the Tool Tip location relative to the Table pivot points must be known to compute the appropriate adjustments. This means that changes to GCode Offsets (Fixture/work or Global) will shift all the Tool Tip locations relative to the Table and will affect the required adjustments.
The data flow diagram below shows the difference between having a CAD system perform the Kinematics vs having the Controller perform the Kinematics. Having the Controller perform the Kinematics allows the same GCode to be used even though Tool Lengths, Work Offsets, or even Machine Geometries have been changed.
[[File:RTCP_Data_Flow.png|none|link=|770x550px]]
An additional advantage to having Kinematics performed in the Controller is that the Kinematics/RTCP is performed continuously throughout angular motions and not only on GCode Coordinates/Blocks/Lines. So for example in the case where only the B Axis is desired to rotate:
G0 B0 (start at angle 0)
G1 B90 (rotate B 90 degrees).
With RTCP in the Controller, only one line of GCode is required to rotate B 90degrees and throughout the motion the tool tip will remain in the same place. With RTCP in CAD, many lines of GCode would be required that include all the intermediate XYZ positions to keep the tool tip in the same place.
==Overview==
Kinematics are part of the Coordinated Motion Library which is used by the GCode Interpreter. It provides a transformation from the desired CAD positions to the System's required Actuator positions to move there.
#include "Kinematics5AxisTableAC.h"
#include "Kinematics5AxisTableBC.h"</pre>
==Kinematics3Rod==