SimMechanics Release Notes

Major Bug Fixes

SimMechanics 1.1 includes many bug fixes made since Version 1.0. This section describes the particularly important Version 1.1 bug fixes.

Subsystem Body Coordinate System Ports

For large subsystems, Body coordinate system (CS) ports on subsystem boundaries now correctly match the original Body CSs in the subsystem Bodies themselves. In Version 1.0, Body CS ports on the subsystem boundary were not always correctly matched to the original Body CSs from which the subsystem ports came.

Masked Subsystems

Masked subsystems containing SimMechanics blocks no longer produce errors during simulation.

Configurable Subsystems

Configurable subsystems now work with SimMechanics blocks, with some limitations. See Configurable Subsystems Limitation.

Supported Nonvirtual Subsystems

SimMechanics 1.1 now supports Atomic, Enabled, If, and Switch Case subsystems, provided that the subsystem encapsulates an entire SimMechanics machine. See also Unsupported Nonvirtual Subsystems.

Corrected English Unit for Body Inertia

The incorrect English moment of inertia unit lb*ft/s² has been changed to slug*ft². The old, incorrect unit is physically equivalent to the new, correct unit. See Correcting English Units for Body Inertia.

Automatically Cut Joints Now Marked

In the Constraints pane of the Mechanical Environment Settings dialog box, the Mark automatically cut joints feature is now implemented.

Body Sensor Output Signals Reordered

The output ports, or if the signals are bundled, the output vector signal components, of the Body Sensor are now ordered in the same sequence as the output signal order in the dialog box. The old dialog order was incorrect. See Reordering Body Sensor Output Signals.

No Actuating or Sensing Massless Connectors

Sensor and Actuator ports can no longer be added to Massless Connector Joint blocks. See Removing Invalid Sensor and Actuator Connections.

New Utilities Block for Joint Sensor Angular Output

The Joint Sensor block outputs discontinuous angles for rotational motion, bounded in the interval (-, +] radians. There is a new block, Continuous Angle, for converting discontinuous angular output to continuous, unbounded angular output, located in the SimMechanics Utilities library.

Simulink Tools Now Supported with SimMechanics

Accelerator Mode and the Model Differences tool now function with SimMechanics blocks. The Accelerator recompiles the executable code during every simulation when Accelerator Mode is selected.

Visualizing Multiple Machines

SimMechanics now renders and animates multiple independent machines in the same model.

SimMechanics 1.1 Release Notes

Upgrading from an Earlier Release