I would very much like to receive a competent answer.
We are talking about tool tip control - RTCP (Rotary Tool Control Point). The essence of this option is that with a 5-axis continuous movement, the tip of the tool moves inseparably from the point where it was.
If the RTCP mode is not enabled, then the table rotations and the position (movement) of the tool tip are not connected, that is, in fact (from the point of view of the toolpath trajectory), the turns occur relative to the rotary axes of the machine. And to get the movement, from one frame of the machine tool (with RTCP-mode) we must have many frames (without RTCP), where our movement from A0B0 to A45B20 should be divided into small movements. Moreover, from frame to frame, X, Y, Z should be recalculated taking into account the position of program zero. And this task is already an order of magnitude more complicated than a one-time recalculation of the zero position.
Such calculations are the responsibility of the UCCNC. And the UC300 is the translator between the UCCNC and the drivers.
I do not think that the UC300 does the calculation of trajectories, but I can and are mistaken.