# Determined turning direction when moving TCP around 180°

**URL:** <https://forum.universal-robots.com/t/determined-turning-direction-when-moving-tcp-around-180/2071>\
**Category:** Technical Questions\
**Created:** [June 5, 2018, 9:45am UTC](https://forum.universal-robots.com/t/determined-turning-direction-when-moving-tcp-around-180/2071 "2018-06-05T09:45:32Z")\
**Posts on this page:** 1\
**Showing post:** 8

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**Author:** ![anon75015020](https://avatars.discourse-cdn.com/v4/letter/a/ebca7d/32.png) [@anon75015020](https://forum.universal-robots.com/u/anon75015020)\
**Post date:** [June 11, 2018, 11:30am UTC](https://forum.universal-robots.com/t/determined-turning-direction-when-moving-tcp-around-180/2071/8 "2018-06-11T11:30:55Z")

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I did a short test to show the difference between Pose and Joint Positions: Pics attached

Calculation of values  
 ![poseJointPos](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/1X/347476a1f74ede94c4cf084494899623df257c5e.PNG)

Values  
 ![poseJointPos2](https://us1.discourse-cdn.com/flex020/uploads/universal_robots/original/1X/2c219110e985fe880fd1e26fae717ea42519c3f6.PNG)

Regards,  
Alexander

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