Start Simulator Service VI

Owning Palette: Simulator VIs

Requires: Robotics Module

Calls the robotics simulator and initializes the simulation scene you define in a manifest file.

Note  If you call this VI while another instance of the simulator is running, LabVIEW returns error code –310192.

Use the Stop Simulator Service VI to end the communication session when you finish viewing the simulation.

Examples

	step mode specifies how the simulator models real-world behavior at each simulation step. 0 Performance—Specifies that the simulator models real-world behavior more efficiently. 1 Accuracy—Specifies that the simulator models real-world behavior more accurately.
	timing mode specifies the timing behavior in the simulation environment. 0 Software Real-Time—Specifies that the timing of the simulation environment matches the timing of the real-world. 1 Free Running—Specifies that the simulator runs in the simulation environment as fast as the system allows regardless of the timing in the real-world. 2 Synchronized—Specifies that you control the timing in the simulation environment. Use the Take Simulation Steps VI to control the steps to take forward in a synchronized mode.
	manifest file specifies the absolute path to the .xml manifest file that defines the simulation instance. If you specify an invalid path, LabVIEW returns error code –310200.
	enable 3D visualization specifies whether LabVIEW generates a 3D scene of the simulated environment and components defined in the manifest file. The default is TRUE.
	step size (ms) specifies the rate at which to advance the current time of the simulation and adjust the physical states of components. National Instruments recommends step sizes of 5 to 20 ms. Large step sizes result in less accurate real-world behavior. Smaller step sizes result in a simulation that more accurately models real-world behavior, but they require more processor resources.
	error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
	3D picture refnum specifies a reference to a 3D picture control in which you want to display the simulation. You can wire a reference to a 3D picture control to this input to display the simulation scene on an existing front panel. By default, the simulator displays the simulation in a new window.
	error out contains error information. This output provides standard error out functionality.

Examples

Refer to the following VIs for examples of using the Start Simulator Service VI:

• labview\examples\robotics\Simulator\iRobot Create\Simulated iRobot.lvproj
• labview\examples\robotics\Simulator\Robot Balance\Robot Balance.lvproj