The xyz/abc pos can be relative to world on the floor, if the robot is kinematically coupled to the slide or the robot base if it isn't.

If the following parameter in machine.dat is set to #NONE, then it is decoupled and if it is setup to #EASYS (or other possible values), then it is coupled.

$EX_KIN={ET1 #NONE,ET2 #NONE,ET3 #NONE,ET4 #NONE,ET5 #NONE,ET6 #NONE} ;