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When you move a branch, you move the branch along with all its contents ('child' branches). This means that you cannot move a branch downwards into one of its child branches, as this produces a circular situation.
You need to work round this when swapping two axes mounted one on the other.
If you have 'Y-Axis in the X-Axis' for example:
Z Axis
X Axis
Y Axis
B Axis
etc.
And you want to swap to 'X-Axis in the Y-Axis',
first drag the Y-Axis into the Z-Axis, moving it alongside the X-Axis
in the hierarchy:
Z Axis
Y Axis
B Axis
etc.
X Axis
Then drag the X-Axis into the Y-Axis:
Z Axis
Y Axis
B Axis
etc.
X Axis
Note how the X-Axis is the last (lowest) branch in its parent branch, below the branches that have children.
When dropping, if you drop the branch onto a branch that cannot have children, the branch is placed in the next branch higher up the hierarchy that can have children.