Define a tag component Chapter 6
Rockwell Automation Publication 1756-RM084S-EN-P - March 2015 127
Attribute Description
JointRatioNumerator Specify numerator of the joint ratio.
JointRatioDenominator Specify denominator of the joint ratio.
LinkLength1 Specify the length of Robotic Arm 1.
LinkLength2 Specify the length of Robotic Arm 2.
ZeroAngleOffset1 Specify the rotational angular offset of joint axes 1 in degrees. This is used to shift the 0 degree position of the joint.
ZeroAngleOffset2 Specify the rotational angular offset of joint axes 2 in degrees. This is used to shift the 0 degree position of the joint.
ZeroAngleOffset3 Specify the rotational angular offset of joint axes 3 in degrees. This is used to shift the 0 degree position of the joint.
BaseOffset1 Specify the difference for the first axis between the origin of the robot at the first joint of the robotic arm, as determined
by the application’s Kinematics internal equations, and the origin defined by the robot manufacturer.
BaseOffset2 Specify the difference for the second axis between the origin of the robot at the first joint of the robotic arm, as
determined by the application’s Kinematics internal equations, and the origin defined by the robot manufacturer.
BaseOffset3 Specify the difference for the third axis between the origin of the robot at the first joint of the robotic arm, as determined
by the application’s Kinematics internal equations, and the origin defined by the robot manufacturer.
EndEffectorOffset1 Specify the end effector offset value, which is the distance between the end of the robot arm L2 and the end of the end
effector in the x1 dimension.
EndEffectorOffset2 Specify the end effector offset value, which is the distance between the end of the robot arm L2 and the end of the end
effector in the x2 dimension.
EndEffectorOffset3 Specify the end effector offset value, which is the distance between the end of the robot arm L2 and the end of the end
effector in the x3 dimension.
MaximumAccelerationJerk Specify the value for maximum acceleration jerk to be used by the coordinated motion instructions to determine the
acceleration jerk rate to apply to the coordinate system vector when acceleration jerk is expressed as a percent of
maximum.
MaximumDecelerationJerk Specify the value for maximum deceleration jerk to be used by the coordinated motion instructions to determine the
deceleration jerk rate to apply to the coordinate system vector when deceleration jerk is expressed as a percent of
maximum
MasterInputConfigurationBits Specify the master input configuration bits.
Type a hexadecimal number.
MasterPositionFilterBandwidth Specify the Master Position Filter Bandwidth.
L5X MotionGroup structure
In an .L5X file, motion group attributes are in the Data element.
<Data Format="MotionGroup">
<MotionGroupParameters [Motion_Group_Attributes]/>
</Data>
L5K MOTION_GROUP structure
In an .L5K file, motion group attributes are in the tag statement.
MOTION_GROUP Tag
