# TCP joint angles and TCP/IP joint angle values do not match **URL:** \ **Category:** Robot Communication\ **Created:** [July 27, 2022, 3:50pm UTC](https://forum.universal-robots.com/t/tcp-joint-angles-and-tcp-ip-joint-angle-values-do-not-match/22951 "2022-07-27T15:50:06Z")\ **Posts on this page:** 6\ **Page:** 1
**Author:** ![anon15423856](https://avatars.discourse-cdn.com/v4/letter/a/ecccb3/32.png) [@anon15423856](https://forum.universal-robots.com/u/anon15423856)\ **Post date:** [July 27, 2022, 3:50pm UTC](https://forum.universal-robots.com/t/tcp-joint-angles-and-tcp-ip-joint-angle-values-do-not-match/22951/1 "2022-07-27T15:50:06Z")
I have a simple LabVIEW application where I connect to the TCP/IP address of the robot and open port 30012, which is supposedly just spits out data about the robot. I don’t need data more than 10Hz, so this is fine. From the TCP IP client interfaces located here ([Remote Control Via TCP/IP - 16496](https://www.universal-robots.com/articles/ur/interface-communication/remote-control-via-tcpip/)) I can use the decoder ring to get the TCP Cartesian info. From here I can get the X, Y, Z position where it matches the teach pendant. But when I go for the Rx, Ry, and Rz angles, it looks like the values more often do not match. I can pull the TCP offset values, but am unsure if there is a transformation I need to do to get the values to match? If so can someone please help a brother out. Robot UR10 CB 3.15.4.106291 ---
**Author:** ![eric.feldmann](https://avatars.discourse-cdn.com/v4/letter/e/94ad74/32.png) [@eric.feldmann](https://forum.universal-robots.com/u/eric.feldmann)\ **Post date:** [July 27, 2022, 5:27pm UTC](https://forum.universal-robots.com/t/tcp-joint-angles-and-tcp-ip-joint-angle-values-do-not-match/22951/2 "2022-07-27T17:27:20Z")
Pretty sure the pendant displays it in helpful Roll Pitch Yaw, while the interfaces spit out Axis Angles, and I don’t remember nearly enough about my 3D transformations to make any sense of Axis Angles. The official UR forum links to the wiki here: [Axis–angle representation - Wikipedia](https://en.wikipedia.org/wiki/Axis%E2%80%93angle_representation#:~:text=In%20mathematics%2C%20the%20axis%E2%80%93angle,the%20rotation%20about%20the%20axis). Which always does a nice job reminding me that I don’t understand anything. ---
**Author:** ![anon15423856](https://avatars.discourse-cdn.com/v4/letter/a/ecccb3/32.png) [@anon15423856](https://forum.universal-robots.com/u/anon15423856)\ **Post date:** [July 28, 2022, 1:17pm UTC](https://forum.universal-robots.com/t/tcp-joint-angles-and-tcp-ip-joint-angle-values-do-not-match/22951/3 "2022-07-28T13:17:39Z")
> [@eric.feldmann](#): > > ce job reminding me that Thanks Eric, your comment made me laugh. ---
**Author:** ![aryabtsev](https://avatars.discourse-cdn.com/v4/letter/a/58956e/32.png) [@aryabtsev](https://forum.universal-robots.com/u/aryabtsev)\ **Post date:** [August 1, 2022, 1:28pm UTC](https://forum.universal-robots.com/t/tcp-joint-angles-and-tcp-ip-joint-angle-values-do-not-match/22951/4 "2022-08-01T13:28:35Z")
Keep in mind that the same pose can be defined in a different Rx Ry Rz combinations. It does not mean that the pose is different, just it was represented by a different set (remember that angles 0 and 6.28 rad are the same, transformation -3.14 and +3.14 are the same and so on) I am pretty sure that what you see is the “normalization” that UR does to make display values to look “smooth”. If you read RTDE values - they are raw and more stable/predictable. ---
**Author:** ![anon15423856](https://avatars.discourse-cdn.com/v4/letter/a/ecccb3/32.png) [@anon15423856](https://forum.universal-robots.com/u/anon15423856)\ **Post date:** [August 3, 2022, 8:12pm UTC](https://forum.universal-robots.com/t/tcp-joint-angles-and-tcp-ip-joint-angle-values-do-not-match/22951/5 "2022-08-03T20:12:35Z")
Thanks Aryabtsev, I have taken 4 different data points to show my issues. From Pendant From TCP/IP packet | Rx | Ry | Rz | | Rx | Ry | Rz | | 2.251 | -2.076 | -0.104 | | 2.251 | -2.07639 | -0.104081 | | 2.5 | -2.313 | 0.641 | | -2.03248 | 1.88057 | -0.521 | | 2.076 | -1.856 | 0.62 | | 2.0756 | -1.8562 | 0.62 | | 2.731 | -2.448 | -1.14 | | -1.73664 | 1.55665 | 0.72507 | |1.686 | -3.607 | -0.543| | -0.95924 | 2.03287 | 0.306248 | It looks like the data matches then just kindof goes astray at some points? TCP offsets are all zero’ed out and I got the data from the Base View on the move tab. No clue, how to read the correct value? ---
**Author:** ![aryabtsev](https://avatars.discourse-cdn.com/v4/letter/a/58956e/32.png) [@aryabtsev](https://forum.universal-robots.com/u/aryabtsev)\ **Post date:** [August 3, 2022, 8:37pm UTC](https://forum.universal-robots.com/t/tcp-joint-angles-and-tcp-ip-joint-angle-values-do-not-match/22951/6 "2022-08-03T20:37:22Z")
Please clarify what are those numbers. You mention 4 data points, but I see 10 sets of RxRyRz. Are you changing poses or all of them are the same pose?