You can use the method QuerySimulationState(SmartComponent) to get the state of the simulated component. The definition of 'stopped' can be found in the enum SimulationActorState. The RobotStudio simulation ends when the last simulatable object has stopped. The ActiveConfiguration property defines which objects participate in a simulation. Defining objects in a simulationĪll simulatable objects participating in a simulation will have the “chance/possibility/will be requested” to act/move/do stuff for each time slice. The drawbacks are that the virtual FlexPendant cannot be open, and that the simulation might be somewhat slow and jerky, depending on the complexity of the simulation and the performance of the computer. Thus, the controllers are synchronized, and the cycle time will be calculated correctly. In this mode, RobotStudio synchronizes the controllers by dividing a time segment into small slices and waiting for all controllers to complete a current time slice before any controller can start anew. Time slices can be used to ensure that the timing for signals and other interaction between controllers is accurate. The cycle time will be correct, but the timing for setting signals and triggering events might be inaccurate.

In this mode, since all controllers use the same computer resources, their synchronization might not be exactly as in the real world where they run independently. As a result, FlexPendant and ScreenMaker applications can be executed on the FlexPendant together with Smart Component simulations. In the Free runtime mode, simulations created using Smart Component are supported with a virtual controller. RobotStudio uses time slice mode by default, but you can switch to free runtime, if required. You can manually choose between these two modes by setting the Simulation – Virtual Time option in RobotStudio. When simulating stations having events or several controllers, or other time managing equipment (For example, a SmartComponent with the property CanBeSimulated set to true), time can be managed in two modes, either as free runtime or as time slices. A Simulation in RobotStudio is the time that progresses, and the changes that happen to the station and Virtual Controllers as the time progresses, from the call to Simulator.Play to the call to Simulator.End.

Robotstudio simulation tutorial