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Siemens 3D Model Integration Guide

This document provides information about the SIMIT Executable 3D Model SIMATIC Kinematics Integrator software. It includes an overview of the software, the components used, and instructions for setting up the software, including configuring the coupling between SIMIT and Unity. Legal information and disclaimers are also provided.
Copyright
© © All Rights Reserved
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Available Formats
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0% found this document useful (0 votes)
106 views38 pages

Siemens 3D Model Integration Guide

This document provides information about the SIMIT Executable 3D Model SIMATIC Kinematics Integrator software. It includes an overview of the software, the components used, and instructions for setting up the software, including configuring the coupling between SIMIT and Unity. Legal information and disclaimers are also provided.
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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SIMIT Executable 3D

Model SIMATIC
Kinematics Integrator

SIMATIC S7-1500T / SIMATIC S7-PLCSIM Advanced


Siemens
V4.0 SP1 HF1 / SIMIT V11 Industry
Online
https://support.industry.siemens.com/cs/ww/en/view/109802248 Support
Legal information

Legal information
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equipment. The application examples merely offer help with typical tasks; they do not constitute
customer-specific solutions. You yourself are responsible for the proper and safe operation of the
products in accordance with applicable regulations and must also check the function of the
respective application example and customize it for your system.
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limitation, liability for the usability, availability, completeness and freedom from defects of the
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© Siemens AG 2022 All rights reserved

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By using the application examples you acknowledge that Siemens cannot be held liable for any
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Table of contents

Table of contents
Legal information ......................................................................................................... 2
1 Introduction ........................................................................................................ 4
1.1 Overview............................................................................................... 4
1.2 Components used ................................................................................ 4
2 Software Setup ................................................................................................... 5
2.1 SIMIT .................................................................................................... 5
2.1.1 Configuring the SIMIT-Unity coupling .................................................. 5
2.1.2 Retrieve SIMIT project .......................................................................... 5
2.1.3 Executable 3D model ........................................................................... 6
2.1.4 PLCSIM Advanced coupling................................................................. 7
2.1.5 Charts of the SIMIT project .................................................................. 8
2.2 TIA Portal ............................................................................................. 9
2.2.1 Preparing the TIA Portal project ........................................................... 9
3 Operating the digital twin................................................................................ 10
3.1 Starting the simulation ........................................................................ 10
3.2 Overview of the 3D model .................................................................. 11
3.3 Manual control .................................................................................... 12
3.3.1 Home .................................................................................................. 12
3.3.2 Jog ...................................................................................................... 14
3.3.3 Teach and configure points ................................................................ 16
© Siemens AG 2022 All rights reserved

3.4 Operation ............................................................................................ 22


3.5 Programming pick and place .............................................................. 24
4 Appendix .......................................................................................................... 37
4.1 Service and support ........................................................................... 37
4.2 Industry Mall ....................................................................................... 38
4.3 Application support ............................................................................. 38
4.4 Links and literature ............................................................................. 38
4.5 Change documentation ...................................................................... 38

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1 Introduction

1 Introduction
1.1 Overview
This application example can be used to simulate the SIMATIC S7-1500T SIMATIC
Kinematics Integrator standard application with SIMATIC S7-PLCSIM Advanced
and SIMIT in combination with a 3D model.

1.2 Components used


This application example has been created with the following hardware and
software components:
Table 1-1
Component Number Article number
SIMATIC STEP 7 Professional 1 6ES7822-1..06-..
V17 (TIA Portal)
PLCSIM Advanced 4.0 SP1 HF1 1 6ES7823-1F.03-0Y.5
SIMIT V11 1 6DL8913-0AL00-0AB5
SIMIT-Unity coupling V3.0.0 1

This application example consists of the following components:


© Siemens AG 2022 All rights reserved

Table 1-2 Project components


Component File name Note
Documentation Manual_SIMIT_Executable_3D_Model_SKI_V1_0_0.pdf
STEP 7 project TIA_Project_3D_Model_SKI_V1_0_0.zap17 Inside
“TIA”
folder
SIMIT project SIMIT_Project_3D_Model_SKI_V1_0_0.zip Inside
“SIMIT”
folder
3D Model Executable_3D_Model_SKI_V1_0_0.zip Inside “3D”
folder
SIMIT-Unity Unity.zip Inside
coupling “Unity”
folder

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2 Software Setup

2 Software Setup
After downloading the “SIMIT_Executable_3D_Model_SKI.zip”, it can be unzipped
into a desired folder. All included files are shown in Table 1-2.

2.1 SIMIT

It is important, that firstly the SIMIT-Unity coupling is configured in SIMIT before


NOTICE the SIMIT project is retrieved and opened for the first time.

2.1.1 Configuring the SIMIT-Unity coupling

The SIMIT-Unity coupling is based on an external coupling for SIMIT and must be
added manually. The required steps are described in the following table.

Table 2-1
No. Action
1. Unzip „Unity.zip“ into a new folder “Unity” in the following directory:

…\Siemens\Automation\SIMIT\SIMIT SF\couplings

If the folder “couplings” does not exist yet, it needs to be created.


© Siemens AG 2022 All rights reserved

2. Restart SIMIT to update the couplings dialogue. The new coupling “Unity” is
visible in the coupling selection dialogue.

3. The SIMIT-Unity coupling was added correctly. The dialogue can be closed with
clicking the “Cancel” button.

2.1.2 Retrieve SIMIT project

Before retrieving the SIMIT project, the SIMIT-Unity coupling must be configured
(2.1.1).
The SIMIT project is provided as a SIMIT archive. For retrieving the project
following steps need to be done.

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2 Software Setup

Table 2-2 Retrieve SIMIT project


No. Action
1.

2. Under “Archivename” navigate to


“SIMIT_Project_3D_Model_SKI_V1_0_0.simarc”. As “Target folder” a desired
folder can be selected.
© Siemens AG 2022 All rights reserved

3. The following warning can be confirmed with clicking “Yes”.


4. The project is retrieved.

2.1.3 Executable 3D model

Before starting the simulation, it is needed to add the 3D model into the project.
Therefore, the following steps need to be done.
Table 2-3 Adding 3D model
No. Action
1. Unzip “Executable_3D_Model_SKI_V1_0_0.zip” into desired folder.
2. Open existing coupling with double clicking “3DSKI”.

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2 Software Setup

No. Action
3. To refresh the “Application Path”, click “Select application”, navigate to the
folder from step 1, select “SKI” and click “Open”.
© Siemens AG 2022 All rights reserved

4. Confirm the update of the signals with “Yes”.


5. Check if the coupling is still defined as “Isochronous”.

2.1.4 PLCSIM Advanced coupling

Depending on whether the PLCSIM Advanced Virtual Ethernet Adapter should be


used or not, the communication interface in the PLCSIM Advanced coupling needs
to be set to “SOFTBUS” (when the PLCSIM Advanced Virtual Ethernet Adapter is
not used) or to “TCPIP” (when the PLCSIM Advanced Virtual Ethernet Adapter is
used).

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2 Software Setup

Figure 2-1 Communication interface

Typically, when TIA Portal and SIMIT run on the same system, “SOFTBUS” is
© Siemens AG 2022 All rights reserved

used.

2.1.5 Charts of the SIMIT project

The SIMIT simulation software maps the behavior of active components (e.g. of
drives or valves). In SIMIT, you can simulate error scenarios to analyze the
behavior of the machine in a virtual space. The required components are organized
in individual charts.

pcPicker
This chart calculates the set point position for the axis of the picker base, because
this axis is not controlled by the application.
Figure 2-2 Chart pcPicker

Drives
This folder consists of charts for all technology objects that are interconnected with
a drive. For cyclic data exchange between the PLC and the drive, PROFIdrive
telegram 105 is set up in these charts.

IOs
This folder consists of a chart, that does the interconnections between the in- and
outputs of the application and the 3D model.

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2 Software Setup

2.2 TIA Portal


2.2.1 Preparing the TIA Portal project

To prepare the provided TIA Portal archived project for the simulation, the following
steps need to be done.
Table 2-4 Prepare TIA Portal project
No. Action
1. Start TIA Portal, click “Project” and “Open”.

2. Browse to the provided TIA Portal compressed project. Define a desired target
folder.
© Siemens AG 2022 All rights reserved

3. Start simulation of HMI.

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3 Operating the digital twin


3.1 Starting the simulation

It is important to go through chapter 2 before opening the SIMIT project and


NOTE starting the simulation.

To start the simulation, following steps need to be done.


Table 3-1 Starting the simulation
No. Action
1. Click „Start“ in SIMIT.
© Siemens AG 2022 All rights reserved

2. Confirm the appearing warning with “Ok”.

3. Simulation starts with following steps:


1. Starting the S7-PLCSIM Advanced instance
2. Opening and connecting the 3D model
3. Establishing HMI connection
4. Digital twin is ready for operation.

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3.2 Overview of the 3D model


In the top left corner status information about the connection to SIMIT can be found
(1). Products spawning at the smaller product belt (2) and are detected by a sensor
(3). The Scara roboter (4) picks the products and sort them into a box (5), that is
pushed by a loader (6) onto the bigger product belt (7). After 4 products are sorted
into the box, the box is closed with a cover (8). The box is moved into the direction
of the articulated arm (9) until a sensor (10) detects the box. With the palatizing the
box onto the palette (11) the sequence is done. In parallel the next throughput has
been started.
Figure 3-1 Overview of the 3D model

1 2

12 3
4
© Siemens AG 2022 All rights reserved

10 7 5

9 6 8

The “Space” key on the keyboard switches between 6 different standard views
(Table 3-2).

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Table 3-2 Standard views


© Siemens AG 2022 All rights reserved

3.3 Manual control


3.3.1 Home

After the connection between the HMI and the PLC is established, it must be
checked if the axes of the Scara roboter, conveyor belts and articulated arm are
homed. Therefore, following steps must be done:

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Table 3-3 Homing axes


No. Action
1. Login as administrator:
Username → admin
Password → Admin

2. Select „Manual control“ and enable all axes.


© Siemens AG 2022 All rights reserved

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No. Action
3. Home all axes to 0,0° or rather 0,0mm.

4. Repeat step 2 and 3 for the articulated arm.


© Siemens AG 2022 All rights reserved

3.3.2 Jog

With SKI it is possible to jog a single axis or the kinematics at once:


• Jog a single axis (incremental / continuous) or jog to a target position
• Jog the kinematics (incremental / continuous), jog to a Cartesian target position
or to a point from the point table with linear or sPTP motion
Therefore, following steps must be done:

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Table 3-4 Jog


No. Action
1. Login as administrator:
Username → admin
Password → Admin

2. Select „Manual control“ and enable all axes.


© Siemens AG 2022 All rights reserved

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No. Action
3. To jog a single axis, select “Axes” and for the desired type of jog command
select the corresponding tab. After selecting the desired axis and defining the
“Setpoint velocity” and the “Override”, the movement can be triggered.

4. To jog a kinematic, select “Kinematics” and for the desired type of jog command
select the corresponding tab. After configuring the jog command (e.g.
“Coordinate system”), defining the “Path velocity” and the “Override”, the
© Siemens AG 2022 All rights reserved

movement can be triggered.

3.3.3 Teach and configure points

At the tab “Edit points” a list of points can be specified. These points can then be
used as references in kinematics Motion Control commands when creating
programs. This type of command specification has the advantage that points can
be modified afterwards and the program is automatically updated by the reference.
A specific name can be assigned to each point, e.g. “place position”. You can
change the points later to make adaptions. The point reference in the automatic
program remains.
The points can be either defined by entering the coordinates manually or jogging
the kinematics and saving its current position.

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As an example, follow these steps:


Table 3-5 Teach and configure points
No. Action
1. Login as administrator:
Username → admin
Password → Admin
© Siemens AG 2022 All rights reserved

2. Select the first channel to control the Scara roboter.

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No. Action
3. Switch to “Configuration” and switch to the tab “Outputs”. With selecting and
deselecting “ProdStopperExtend” the stopper is extended. The corresponding
input “ProdStopperExtended” is set.
© Siemens AG 2022 All rights reserved

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No. Action
4. Switch to “Manual control”, select “ProdBelt” and enable the axis.
© Siemens AG 2022 All rights reserved

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No. Action
5. Select “Axes” and jog the belt until the first product reaches the stopper. The
corresponding input signal “ProdBeldOccupiedSensor” is set.
© Siemens AG 2022 All rights reserved

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No. Action
6. Switch to “Edit points”, select the point “AbPickProduct”, switch to the tab
“Approach point” and move the Scara roboter to the selected point.

7. Use the “Space” key on the keyboard, switch to the shown standard view:
© Siemens AG 2022 All rights reserved

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No. Action
8. Switch to the tab “Teach point” and select the point “AbPlaceProduct”. Move the
zAxis in negative z direction until the gripper touches the product. The press
“Save point”. It could be useful to reduce the “Override”.
© Siemens AG 2022 All rights reserved

9. Select the point “AbPickProduct” again, switch to the tab “Approach point” and
move the Scara roboter to the selected point.

3.4 Operation
This application example provides a sequence for continuous operation, where
both robots are involved (3.2). To start this sequence, following steps needs to be
done:

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Table 3-6 Continuous operation


No. Action
1. Select the channel of the articulated arm and press “Initialize program” until the
axes stop automatically. Then press “Start” and the continuous operation of the
articulated arm will start when the first box is detected by the input
“ContAtPalletizingSensor”.

2. Select the channel of the Scara roboter and press “Initialize program” until the
© Siemens AG 2022 All rights reserved

axes stop automatically. Then press “Start” and the continuous operation of the
Scara roboter will start with detecting a product at the input
“ProdBeldOccupiedSensor”.

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No. Action
3. The sequence is running automatically, until the palette is filled with 6 boxes.
Then a message on the channel of the articulated arm occurs. With confirming
this message, the palette is emptied and the sequence goes on.
© Siemens AG 2022 All rights reserved

3.5 Programming pick and place


The program editor can be used to create a completely new program or to adapt an
existing program.
1. The command list is displayed on the left side. It displays a section of up to ten
configured commands of the selected program slot. To select a command the
corresponding line must be pressed.
2. The command bar includes different commands to structure the program and
move the axes. The commands are described in the following chapters.
3. The displayed program slot can be selected by pressing the right or left arrow
buttons.

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Figure 3-2: Overview program editor

1 3

To insert a command, select a command line from the program and choose a
command from the command bar that can be added. After saving the changes of
the command configuration the command is inserted. To edit an already configured
© Siemens AG 2022 All rights reserved

command, select it in the table and then press the ‘Edit command’ button.
To modify the command list, the user can access additional auxiliary functions,
such as copy and paste, delete, or deactivate a command. These functions are
grouped in a separate submenu. To open this editing menu, any line at the
program list must be pressed for at least 3 seconds.

Programming example
In the following table the programming of a Pick and Place is explained step by
step. If you want to follow the instructions, you can use the provided project as a
basis. Delete the program slot 3 in the 1st channel by clicking on the ‘Trash can’
icon and selecting ‘Delete program slot’. Now you can program the Pick and Place
yourself.
After you have programmed the example below the Scara will pack one product in
each box.

Frei verwendbar

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Table 3-7 Pick & Place


No. Action
1. Create and insert a new label ‘PICK & PLACE’ in the program slot 3 in the 1st
channel.
© Siemens AG 2022 All rights reserved

Result:

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No. Action
2. Add a kinematics movement command: sPTP to the point ‘AbPickProduct’. Open
the kinematics movements commands. sPTP is already selected. Click on ‘Point
table’. Select the point from the point table. Set the command transition to ‘Next
cycle’ and save the command.
© Siemens AG 2022 All rights reserved

Result:

3. Add a wait command: Wait until a product is ready to be picked ‘%I


ProdBeltOccupiedSensor’ = TRUE

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No. Action

Result:

4. Add a kinematics movement command: Move linear to the point ‘PickProduct’. In


the configuration of the kinematics command select ‘Linear motion’ and ‘Point
table’. Choose the point from the point table. Configure the blending to ‘Max.’.
© Siemens AG 2022 All rights reserved

Result:

5. Add 2 commands: Activate the gripper by setting ‘%Q GripperGrip’ = TRUE and
‘%Q GripperRelease’ = FALSE. Set the command transition to ‘Immediately’.

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No. Action
© Siemens AG 2022 All rights reserved

Result:

6. Add a wait command: Wait for the feedback %I GripperGripped = TRUE.

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No. Action

Result:

7. Add a kinematics movement command: Move linear to the point ‘AbPickProduct’.


Set the command transition to ‘Next cycle’.
© Siemens AG 2022 All rights reserved

Result:

8. Add a kinematics movement command: sPTP to the point ‘AbPlaceProduct’. Set


the command transition to ‘Next cycle’ and configure the Blending as ‘Max.’.

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No. Action

Result:

9. Wait until the place position is available. In this case the container belt has to be
stopped and an empty container has to be on the container belt. Add 3 wait
commands: Wait for the conditions ContPacked = FALSE, ContMoving = FALSE
and ContReady= TRUE.
© Siemens AG 2022 All rights reserved

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No. Action

Result:
© Siemens AG 2022 All rights reserved

10. Add a kinematics movement command: Move linear to the point ‘PlaceProduct’.

Result:

11. Add commands to deactivate the gripper: Deactivate the gripper by setting ‘%Q
GripperGrip’ = FALSE and ‘%Q GripperRelease’ = TRUE. Set the command
transition to ‘Immediately’.

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No. Action
© Siemens AG 2022 All rights reserved

Result:

12. Add a wait command: Wait for the feedback %I GripperGripped = FALSE.

Result:

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No. Action

13. Add a kinematics movement command: Move linear to the point ‘AbPlaceProduct’.

Result:
© Siemens AG 2022 All rights reserved

14. Add a Jump command: Jump to the label APPLY COVER.

Result:

15. Insert a Jump command after the initialization routine in program slot 0. After the
command ‘Wait for START program = TRUE’ and starting the parallel sequences

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No. Action
insert a jump to the Label ‘PICK & PLACE’.

Result:

Program slot 0
© Siemens AG 2022 All rights reserved

16. Insert a Jump command to the Label ‘PICK & PLACE’ after the ’APPLY COVER’
segment in program slot 4. That way the program will loop through packing a
product in a container and then applying the cover.

Result:

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No. Action

Program slot 4

17. Save the program by clicking ‘Save changes’ on the bottom right corner of the
program editor.
© Siemens AG 2022 All rights reserved

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4 Appendix

4 Appendix
4.1 Service and support
Industry Online Support
Do you have any questions or need assistance?
Siemens Industry Online Support offers round the clock access to our entire
service and support know-how and portfolio.
The Industry Online Support is the central address for information about our
products, solutions and services.
Product information, manuals, downloads, FAQs, application examples and videos
– all information is accessible with just a few mouse clicks:
support.industry.siemens.com

Technical Support
The Technical Support of Siemens Industry provides you fast and competent
support regarding all technical queries with numerous tailor-made offers
– ranging from basic support to individual support contracts.
Please send queries to Technical Support via Web form:
siemens.com/SupportRequest
© Siemens AG 2022 All rights reserved

SITRAIN – Digital Industry Academy


We support you with our globally available training courses for industry with
practical experience, innovative learning methods and a concept that’s tailored to
the customer’s specific needs.
For more information on our offered trainings and courses, as well as their
locations and dates, refer to our web page:
siemens.com/sitrain

Service offer
Our range of services includes the following:
• Plant data services
• Spare parts services
• Repair services
• On-site and maintenance services
• Retrofitting and modernization services
• Service programs and contracts
You can find detailed information on our range of services in the service catalog
web page:
support.industry.siemens.com/cs/sc

Industry Online Support app


You will receive optimum support wherever you are with the "Siemens Industry
Online Support" APP. The app is available for iOS and Android:
support.industry.siemens.com/cs/ww/en/sc/2067

SIMIT Executable 3D Model SIMATIC Kinematics Integrator


Entry-ID: 109802248, V1.0, 12/2022 37
4 Appendix

4.2 Industry Mall

The Siemens Industry Mall is the platform on which the entire siemens Industry
product portfolio is accessible. From the selection of products to the order and the
delivery tracking, the Industry Mall enables the complete purchasing processing –
directly and independently of time and location:
mall.industry.siemens.com

4.3 Application support


Siemens AG
Digital Factory Division
Factory Automation
Production Machines
DI FA PMA APC
© Siemens AG 2022 All rights reserved

Frauenauracher Str. 80
91056 Erlangen, Germany
mailto: [email protected]

4.4 Links and literature


Table 4-1
No. Topic
\1\ Siemens Industry Online Support
https://support.industry.siemens.com
\2\ Link to this entry page of this application example
https://support.industry.siemens.com/cs/ww/en/view/109802248
\3\ SIMATIC SIMIT Simulation Platform
https://support.industry.siemens.com/cs/ww/de/view/109746429
\4\ SIMIT-Unity coupling
https://support.industry.siemens.com/cs/ww/de/view/109769816

4.5 Change documentation


Table 4-2
Version Date Modifications
V1.0 12/2022 First version

SIMIT Executable 3D Model SIMATIC Kinematics Integrator


Entry-ID: 109802248, V1.0, 12/2022 38

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