SetSimModeCfg#

Our robots support a simulation mode in which all of the robot’s hardware including our EOAT are simulated and nothing moves. Simulation mode can be activated and deactivated with the ActivateSim and DeactivateSim commands (these commands can only be executed when the robot is deactivated).

The SetSimModeCfg command configures the default simulation mode type (fast or normal) enabled when ActivateSim is executed without an argument, when the Activate Sim button in the MecaPortal is pressed, or when simulation mode is enabled using a cyclic protocol.

Syntax#

SetSimModeCfg(m)

Arguments#

  • m: integer specifying the default simulation mode type

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

    • 2, fast simulation mode.

Default values#

This setting is persistent and retained after a power cycle (a reboot).

The factory default is normal (real-time) simulation mode.

Responses#

  • [2188][Simulation mode configuration set successfully.]

Usage restrictions#

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

Cyclic protocols#

While simulation can be activated in cyclic protocols, the default simulation mode type (i.e., fast or normal) cannot be selected in cyclic protocols. You must configure the default simulation mode type using the TCP command SetSimModeCfg.