Figure B.1 and Figure B.2 show different versions of Cartesian robots. Figure B.1 shows a three axis robot which has one dedicated power train for each axis: A power train Moves exactly one axis and so an axis only Requires one dedicated power train. One motor of a power train IsDrivenBy a drive and IsConnectedTo a gear.

Figure B.2 shows a three axis robot with a master-slave driven axis 1. The first and second power train Moves axis 1. The first power train HasSlave the second power train. Axis 1 Requires the first and the second power train. For axis 2 and 3 one power train Moves exactly one axis and so an axis only Requires one dedicated power train.