ctrlX DRIVE Simulation Model for ISG-virtuos

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ISG-virtuos is a powerful simulation platform of the ISG Industrielle Steuerungstechnik GmbH. It enables the representation of components, machines or entire plants as digital twins for an application across all product lifecycle phases. ISG-virtuos is a scalable, modular system that allows different simulation types, such as kinematics, dynamics or physics simulation, as well as different expansion levels of the simulation environment: Model-in-the-Loop (MiL), Software-in-the-Loop (SiL) and Hardware-in-the-Loop (HiL). Other characterizing features are real-time capability and fieldbus communication. With its parameterizable simulation model for ISG-virtuos, Bosch Rexroth offers powerful digital twins for its extensive ctrlX DRIVE portfolio and the associated motors.

Machine simulation in the context of a simulation environment

The application of simulation models within a simulation environment like ISG-virtuos is used, for example, to simulate an entire machine or plant. In addition to the electric drives, the corresponding mechanics, kinematics and other peripheral components are also simulated. The input and output data of the different simulation models are connected in the simulation tool. For example, a mechanical component driven by an electric drive can be modeled by means of a drive, mechanics and kinematics model in such a way that a light barrier, which is also implemented in the simulation, is triggered by the kinematics model and the simulated light barrier signal is fed back to the controller in order to control further machine processes.

Example architecture for HiL Simulation of a complete machine or plantExample architecture for HiL Simulation of a complete machine or plant

Use cases

Bosch Rexroth offers customers comprehensive, parameterizable simulation models for ISG-virtuos for its drive systems and motors of the ctrlX DRIVE product line for the following use cases:

  • Detailed sizing, configuration and parameterization
  • Mechatronic machine & system optimization
    Machine & system performance estimation
  • Virtual rapid prototyping via HiL, SiL
  • Virtual commissioning (VIBN) and acceptance tests
  • Training

The model covers the complete behavior of the ctrlX DRIVE, both the control loop behavior and the state machine behavior. That is why it is a real Digital Twin.

ctrlX DRIVE Simulation Model in ISG-virtuosctrlX DRIVE Simulation Model in ISG-virtuosBenefits
  • Reduced commissioning and programming times and costs by using digital twins for virtual commissioning and other use cases like performance optimization or trainings
  • Reproduction of the communication, sequence behavior and the control loop as a part of simulation environments for complete machines and plants
  • Flexible usage for different kinds of simulation and simulation architectures (Real-time and Non-real-time, HiL, SiL)
  • Realistic working mode through the use of ctrlX DRIVE Engineering in combination with the virtual ctrlX DRIVE

  • Support of the simulation environment ISG-virtuos 3.x
    • Model is real-time capable
    • Multiple instances of the model are executable
  • Coverage of the functional scope of ctrlX DRIVE firmware AXS-0316 (no Safe Motion) for:
    • XMS2, XCS2
    • XMD2, XCD2
    • XVE2, XVR2
  • EtherCAT fieldbus communication for HiL simulation
  • Cyclic communication SoE (Servo profile over EtherCAT)
  • Acyclic communication SoE via ADS mailbox
  • Acyclic communication S/IP via EoE (Ethernet over EtherCAT)
  • Command functionality (extract):
    • S-0-0099 Reset class 1 diagnostics
    • S-0-0139 Parking axis
    • S-0-0148 Drive controlled homing
    • S-0-0149 Positive stop drive
    • S-0-0420 Activate configuration mode
    • S-0-0422 Activate parametrization mode
    • S-0-0262 Load defaults
    • S-0-0447 Set absolute position
    • P-0-0524 Commutation offset
    • P-0-0542 Release brake
    • P-0-0543 Apply brake
    • Optional: further commands
  • All operating modes of the drive with typical cyclic data and mode transitions
  • Configuration of the hardware (control/power section, motor) via configuration files (generatable from ctrlX DRIVE Engineering)
  • Application parameterization via parameter file (generatable from ctrlX DRIVE Engineering)
  • Persistence of application parameterization
  • Coupling of ctrlX DRIVE Engineering with the model: The drive mode parameters can be edited by the engineering tool with its complete dialogs. In addition, there are dialogs for the configuration of the simulation model (control/power section, motor type)
  • Selected peripheral signals (e.g. torque setpoint, actual position value) can be used
  • Integrated simple mechanical models within the simulation model incl. configuration via P-parameters

Short introduction video about virtual commissioning of the Digital Twin of the ctrlX DRIVE 


The licenses below include the simulation model for the combination of electrical drives and motors from Bosch Rexroth. They are rental licenses with an annual fee.

If you have any questions, please feel free to contact us at any time:

Drive Simulation ISG-virtuos

License for ISG-virtuos model - 1 workplace, 1 year
R911420175 - SWL-SIMU**-B42-01VRS-IV-AD000*1NNNNN**

License for ISG-virtuos model - 10 workplaces, 1 year
R911420176 - SWL-SIMU**-B42-01VRS-IV-AD000*TNNNNN**


  • Simulation environment ISG-virtuos with EtherCAT slave interface

ISG and ISG-virtuos are registered trademarks of ISG Industrielle Steuerungstechnik GmbHSee https://www.isg-stuttgart.de/en/imprint for further copyright information.

Hi, I am Karsten and I work as a Product Manager in the ctrlX AUTOMATION software team. Contact me if you want to learn more about our solutions.
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