When a constraint entity is created, its name is automatically assigned with a prefix and sequential number as shown in the rule below.
"Prefix" + "_" + Sequential number
The prefixes for constraint entities are as shown in the table below.
Figure 5.14: Prefixes of constraint entities
| Type | Prefix |
| Revolute Joint | RJ |
| Translational Joint | TJ |
| Fixed Joint | FJ |
| Ball Joint | BJ |
| Cylindrical Joint | CJ |
| Plane Joint | PLJ |
| Distance Joint | DJ |
| Universal Joint | UJ |
| Screw Joint | SCJ |
| Constant Velocity Joint | CONSJ |
| Orientation Primitive | OJ |
| Parallel Primitive | PAJ |
| Inline Primitive | INJ |
| Inplane Primitive | IPJ |
| Perpendicular Primitive | PEJ |
| Coupler | COUPLER |
| Gear | COUPLERGEAR |
| Rack and Pinion | COUPLERRACKPINION |
| Cable | COUPLERCABLE |
| PTCV | PTCV |
| CVCV | CVCV |
| Boundary Condition | BC |