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Rotors/Pistons that are in line with an axis (P4, R5 and R7) can be; before, during or after their respective solid (the math doesn't change). Note that S3 is written as "Solid_LG_" for Large Grid (from R3 to R5). S5 is written as "Solid_SG_" for Small Grid (from R5 to R6).
I hope that this helps and hope that I'm not completely wrong.
I've been trying to study your configuration for this welding arm and I'm having a hard time understanding the reason for the solid after the Hinge6 part since there is nothing past the hinge in X.
var R6 = new Rotor( Name: Prefix+"Hinge6", Axis: "-Y", Offset: -90, OriMode: 1, Home: -15 );
var S6 = new SolidSG( 5, 0, 0 );
The bit from "Hinge3" to "Rotor5" Including their solids is also a bit confusing to me. It's as if you consider this whole part a solid and then start from the tip of the piston and create another solid...?
Just set the base of it to a station
Reverse engineering this helped me finally get my head around making arms with hinges; so thanks for that