First, apologies for not providing a photo. I'll get one up soon.
The machine is a boom design. One axis is a horizontal screw driven linear axis. This axis pivots at one end to rotate in the horizontal plane. The second axis the rotary. The machine must make multiple rotations, 0 to some large number of rotations/degrees. It needs a working coordinate system.
Is there an existing configuration to use as a starting point ? I'd prefer to not reinvent an existing wheel.