How to configure axes of new mechanism and create additional intelligent component?

Hello how are you? This time I wanted to consult you for the creation of mechanisms. I created a tool, I have tried to add an additional rotational axis to my solution, but it does not allow me for the axes that are already configured. Now my query is, will it be possible to add it given the above? My idea is that the prismatic execution of the cylinder executes both axes of rotation, or something like that. I leave a video below.
Answers
Hi,
Can you share the tool with me?
/Adnan