SetIoSim#

This instantaneous command toggles the simulation mode for the MVK01 vacuum and I/O module. With the simulation enabled, you can use all the MVK01 commands (e.g., VacuumGrip, SetOutputState) and if the MVK01 is physically present, these commands will not have any physical impact (i.e., they will only be simulated).

Syntax#

SetIoSim(bid,e)

Arguments#

  • bid: I/O bank ID, must be 1 (for MVK01);

  • e: state of simulation mode (1 to enable, 0 to disable).

Default values#

The default settings are applied whenever the robot is power cycled (rebooted).

By default, the simulation mode of the MVK01 is disabled.

Responses#

  • [2056][bid, e]

    • bid: I/O bank ID, must be 1 (for MVK01);

    • e: state of simulation mode (1 to enable, 0 to disable).

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the SetIoSim command is represented by MotionCommandID 36. See Section 4.2 for more details.