.Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Utilities.AxisType1 .Modelica.Mechanics.MultiBody.Examples.Systems.RobotR3.Utilities.AxisType1Model of axis 1, 2, 3 of the robot r3. An axis consists of a gearbox with modelled gear elasticity and bearing friction, a model of the electrical motor and a continuous-time cascade controller.