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Virtual device in 4 steps:

If you haven't downloaded and installed Simultus yet, please go to section DOWNLOAD AND INSTALLATION.

An example of how to build a simulation model is also presented in the instructional video below (watch video):

v2

We invite you to familiarize yourself the Simultus training course (link).

We also invite you to WEBINAR courses. Archival recordings are available at the following links:

- Webinar #7 Meet Simultus - a new automation simulation program

- Webinar #10 Simultus for education - models of virtual educational workstations

- all Multiprojekt Webinars - playlist


A full device model that can be used in the simulation consists of the following 4 elements:

      A. 3D visualization
      B. kinematic model
      C. mathematical model
      D. PLC control program





A. 3D visualization

step A-1:
creating a model in a CAD program (eg. FreeCAD) or downloading a 3D model of the finished device from the manufacturer's website.

step A-2:
converting the model to STL format in a CAD program (eg. FreeCAD).
A video (play video) shows how to convert files to STL format in a few minutes (no previous knowledge of operating FreeCAD is required).

step A-3:
import of a model to Simultus EDU - [STL import] button in the 3D visualization window



The imported models will be visible on the list at the bottom left of the 3D visualization screen and as solids in the 3D view.

step A-4:
setting 3D solids according to the project requirements
The menu on the right side of the 3D visualization screen is visible after selecting an object from the list.



B. Kinematic model

step B-1:
adding movable coordinate systems - [add 6DOF_AXIS] button
The layouts can be given their own name.

step B-2:
determining the relationship between the coordinate systems
Dragging and connecting the layouts on the tree on the left side of the 3D visualization screen:

step B-3:
assigning solids to coordinate systems
Dragging and connecting 3D solids to the layouts in the tree on the left side of the 3D visualization screen



ATTENTION:
- The axes of the coordinate systems are in three colors: X - (RED), Y - (GREEN), Z - (BLUE)
- In the top menu, there is a button for locking the edition of the kinematic dependency tree:
- no lock
- tree editing lock active
- to shift solids or coordinate systems, drag them with the mouse by clicking and holding the mouse in the area of the square on the left:



In the example below:
- The solid 'moduł długi Hiwin podstawa.stl' has not been assigned to any coordinate system because it is to be bound to a stationary system.
- 'Moduł długi Hiwin wózek.stl' and 'modul Hiwin 2 os podstawa.stl' will move together with a coordinate system called 'horizontal axis'.
- The 'vertical axis' system will move together with the 'horizontal axis' system because it is attached to it, which is indicated by the line connecting the centers of these systems and the structure of the created tree.
- 'Moduł Hiwin 2 os wozek.stl' is the only one attached to the 'vertical axis' coordinate system because it will move together in this system
- As a result of this configuration, 'Moduł Hiwin 2 os wozek.stl' will move both in relation to the horizontal axis and the vertical axis.
- The 'horizontal axis' and 'vertical axis' coordinate systems can now be independently moved along or rotated about any axis, except that the movement of the 'vertical axis' is a composite of the movement of that axis and the axis 'horizontal'.
- Coordinate systems are controlled through the function blocks described below, but these systems can be pre-set using the menu on the right side of the visualization screen (visible after selecting the system)



step B-4:
enable 3D simulation
[SIM] button on the top menu of the 3D view screen.

C. Mathematical model

step C-1:
insert '6DOF_AXIS' function blocks to the diagram

step C-2:
assignment of coordinate systems to function blocks '6DOF_AXIS'
The properties of a function block on the left side of the function block diagram screen are visible when the block is selected.



step C-3:
attaching control signals to function blocks and other mathematical relationships defined by properly connected function blocks.
in the example:
- SLIDER blocks were used to control the position of coordinate systems
- SLIDER 'position 1 [mm]' is connected to the input 'Y' of block 6DOF_AXIS connected with the coordinate system 'horizontal axis' because this system is to move in the Y axis



- SLIDER 'position 2 [mm]' is connected to the 'Z' input of the 6DOF_AXIS block connected to the 'vertical axis' coordinate system because this system is to move along the Z axis

step C-4:
switching on the simulation with the SIM button from the top menu of the function block diagram view:


D. PLC control program

step D-1:
configuration of the connection with FATEK PLC device (only the latest versions of WinProLadder work properly with Simultus: download WinProLadder):

add the FATEK PLC controller in the project tree



edit the FATEK PLC properties by entering the IP address and port as below:



step D-2:
insert on the diagram and configure the function blocks that allow data exchange with FATEK PLC



NOTE: Each version of the program has different limitations related to the number of PLC I / O that can be connected to the simulation. While creating the program, the number of inputs, outputs and registers is not counted. An appropriate message will appear only after you try to run the simulation or compilation of the program.

configure its properties



In the example above:

- a block has been selected to activate the state of the physical inputs X in PLC
- address = 0 - starting address of the input X = 0 (i.e. physical input X0)
- size = 4 - 4 consecutive input states will be sent to PLC (X0, X1, X2 and X3)
- device = 1 - device no. 1 is selected (from the tree)

step D-3:
In WinProLadder, create a driver program using ladder language

step D-4:
start the simulation of the PLC controller:



step D-5:
switch the controller into RUN mode



Setup Simulation should be configured as below:

          

The end result of the example:

We suggest that you read the sections Program operation and Program main window, in which you can find a description of the most important menu items.