System for controlling movement of multiple links of an excavator in order to move a tool arranged at the end of an excavator arm, particularly wherein the tool is attached to a tilt-rotator arrangement , the system comprising • an input interface configured to receive input signals carrying user commands (21A - 26B) for moving at least part of the multiple links with respect to each other about corresponding joints, and • an output interface configured to provide output signals for multiple actuators controlling the movement of the multiple links , characterized in that the system comprises • a sensor data interface configured to receive sensor data for determining, particularly in real-time, relative orientations of the multiple links with respect to each other, • a surface setting unit configured to be provided with design data defining a reference surface , the surface setting unit having input means to provide a setting functionality for setting the reference surface , and • a remapping unit configured o to remap (27A - 29B) a user command (21A - 26B) for moving two of the multiple links with respect to each other about a corresponding joint to an associated rotatory tool degree of freedom out of three independent rotatory tool degrees of freedom of a movement of the tool with respect to the reference surface , and o to coordinate the output signals based on the sensor data , the design data , and an inverse kinematics algorithm , such that as a function of the remapped user command (21A - 26B) the tool is rotated within the associated rotatory tool degree of freedom . • an input interface configured to receive input signals carrying user commands (21A - 26B) for moving at least part of the multiple links with respect to each other about corresponding joints, and • an output interface configured to provide output signals for multiple actuators controlling the movement of the multiple links , • a sensor data interface configured to receive sensor data for determining, particularly in real-time, relative orientations of the multiple links with respect to each other, • a surface setting unit configured to be provided with design data defining a reference surface , the surface setting unit having input means to provide a setting functionality for setting the reference surface , and • a remapping unit configured o to remap (27A - 29B) a user command (21A - 26B) for moving two of the multiple links with respect to each other about a corresponding joint to an associated rotatory tool degree of freedom out of three independent rotatory tool degrees of freedom of a movement of the tool with respect to the reference surface , and o to coordinate the output signals based on the sensor data , the design data , and an inverse kinematics algorithm , such that as a function of the remapped user command (21A - 26B) the tool is rotated within the associated rotatory tool degree of freedom . o to remap (27A - 29B) a user command (21A - 26B) for moving two of the multiple links with respect to each other about a corresponding joint to an associated rotatory tool degree of freedom out of three independent rotatory tool degrees of freedom of a movement of the tool with respect to the reference surface , and o to coordinate the output signals based on the sensor data , the design data , and an inverse kinematics algorithm , such that as a function of the remapped user command (21A - 26B) the tool is rotated within the associated rotatory tool degree of freedom . <EOS>