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They simply describe the distance from one rotor to the other.
If you have a setup like this:
+ is a rotor
= is a simple armor block
Assume that to the right you got positive X direction
Assume to the bottom you have positive Y direction
Then to get from the second rotor to the third it is SolidSG( 4, -1, 0) because you go 4 to the right and one up.
So you pretty much place solid between every rotating part in your arm. Interestingly pistons themself count as solids as well, counting the length of it in blocks when it is completely retracted.