When you define a  5 axis milling machine you can set two RTCP parameters in the “Numerical Control” section (via: “NC Resources/Modify Nc Resources”)

• RTCP Support
• Default Mode ON at operation creation (if the previous  RTCP Support is activated)

Default is OFF

Theses parameters impact the machine toolpath simulation and also the APTfile output.

I propose in the following pdf to summarize the behavior and the impact.
and also two short videos with and vithout RTCP during the transition path machine simulation
See also the 3DEXPERIENCE documentation (ref in the pdf)