ActivateSim#

Our robots support a simulation mode in which all of the robot’s hardware including our EOAT are simulated and nothing moves. This mode allows you to test programs with the robot’s hardware (i.e., hardware-in-the-loop simulation), without the risk of damaging the robot or its surroundings. Simulation mode can be activated and deactivated with the ActivateSim and DeactivateSim commands.

As of firmware 11.1, a new fast simulation mode is available, enabling commands to execute as quickly as possible. This significantly speeds up the testing of commands and programs.

Syntax#

ActivateSim(m)

Arguments#

  • none: enable using the default simulation mode type (see SetSimModeCfg);

  • m: integer specifying the simulation mode type as

    • 0, disabled (equivalent to using the command DeactivateSim),

    • 1, normal (real-time) simulation mode,

    • 2, fast simulation mode.

Responses#

  • [2045][The simulation mode is enabled.]

  • [2046][The simulation mode is disabled.]

  • [1027][Simulation mode can only be enabled/disabled while the robot is deactivated.]

Usage restrictions#

This command can only be executed when the robot is deactivated.

Cyclic protocols#

In cyclic protocols, the ActivateSim command performed by setting the ActivateSim bit in the RobotControl data. See Table 4 for more details.