Simulation

The robot can be simulated by setting the Simulation input signal. Doing so will set all lower-level axis groups or axis group members to simulation. This means the state of the inverters is ignored and a simulated drive is run instead.

This can be useful in the following cases:

• No inverters are connected to the robot but the control and movement of the robot is to be tested.
• Inverters are connected but a new movement has been programmed, which is to be tested in a simulated way prior to the real application.

For the second application case, it is necessary to switch from real to simulated axes and vice versa. For this case, the axes (whether simulated or real) must be in a safe state. This is the case when the enable is removed from the robot and all inverters are in emergency stop and report standstill. The following diagram illustrates the switchover:

You can also simulate only some of the robot's axes. In this case the simulation must be activated in MOVISUITE^® for the respective axes. The robot will then ignore the specified value for these axes. The axes remain simulated as long as the setting is active in MOVISUITE^®.