MapleSim 2020 Questions and Posts

These are Posts and Questions associated with the product, MapleSim 2020


I am trying to implement a maplesim block that takes two vectors as input and a 6x6 matrix as an output. I alrady got help with how to implement the inputs and the outputs however it was for an one input one output system.

The current code is the following

However this results in both inputs being placed ontop of each other

Do anybody know how to change the position of the two inputs so that they are not on top of each other?

Eric Ragnarsson


I am trying to construct a controler for a UR5e robot, I have a simulation of the robot in maplesim and have started to look for a way to use multibody analysis to provide me with the Jacobian. However it only provieds the constraint Jacobian and as I have no position constraints on the robot, it returns nothing.

I then came across 


However it is old and does not exactly say how to do it.

So I thought I should ask this wonderful comunity if they have an recomended way to construct the Jacobian from a maplesimmodel? I am still a beginner at maplesim and maple so any help is appreciated.


With thanks for helping me

Eric Ragnarsson



I am trying to implement a controler for a 6dof robot. This requires a number of matrixis one among them is the mass matrix.

I have the matrix equation from using the multibody analysis tool and was thinking to use this matrix equation to construct a custom componet that takes the angels of the robot joints as inputs and have the 6 x 6 mass matrix as an output.

However when I complete the component generation am I greeted with this error message.

(in MapleSim:-Modelica:-PrintModel) unable to print Matrix(6, 6, {(1, 1) = ((1/5000)*(5000*`msim/RNAME`(_msim_End_effector_M)+5000*`msim/RNAME`(_msim_Wrist_2_M)+2500)*(`msim/RNAME`(_msim_Wrist_1_H)+`msim/RNAME`(_msim_Wrist_2_H))*`msim/RNAME`(_msim_Upper_Arm_H)*cos(`msim/RNAME`(_msim_R3_theta))-(1/5000)*(5000*`msim/RNAME`(_msim_End_effector_M)*(`msim/RNAME`(_msim_End_effector_H)+`msim/RNAME`(_msim_Wrist_2_W))+5000*`msim/RNAME`(_msim_End_effector_H)+2500*`msim/RNAME`(_msim_Wrist_2_W))*sin(`msim/RNAME`(_msim_R5_theta))*`msim/RNAME`(_msim_Upper_Arm_H)*sin(`msim/RNAME`(_msim_R3_theta))+(1/5000)*(5000*`msim/RNAME`(_msim_End_e ... NAME`(_msim_Wrist_1_M)+(1/8)*`msim/RNAME`(_msim_Wrist_1_W)^2+7/10000})

Error in Component btnGenComponent with caption "Generate MapleSim Component


Most of it is just fragments of the (1,1) equations but what I take away from it is that it complains on a missmach between the 6 X 6 matrix and the output port. 

After researching the question, however, I have not managed to find a good answer to this so I ask this wonderful forum for help.

Is it posible to have a matrix as an output from a custom component? If it is then how?


Eric Ragnarsson


I am trying to create a simulation of a UR5e, I have added a spring dampening systen in order to simulate the imput of external forces and torques. However I get a strange error for which I could not find an awnser for on the web.

The closest was

However it is quite old and not entirely a match. 

I get the following output

More information

Maplesim 2020

64 bit version

Windows 10

RAM - 16 GB

Do anybody know a solution for this?


Eric Ragnarsson



We’re excited to announce a new version of MapleSim! The MapleSim 2020 family of products lets you build and test models faster than ever, including faster simulations, powerful new tools for machine builders, and expanded modeling capabilities. Improvements include:

  • Faster results, with more efficient models, faster simulations, and more powerful design tools.
  • Powerful new features for machine builders, with new components, improved visualizations, and automation-focused connectivity tools that make it faster than ever to build and test digital twins.
  • Improved modeling capabilities, with an extensive collection of updates to components, libraries, and analysis tools.
  • More realistic machine visualizations with an expanded Kinematic Cam Generation App.
  • New product: MapleSim Insight, giving machine builders powerful, simulation-based debugging and 3-D visualization capabilities that connect directly to common automation platforms.
  • New add-on library:  MapleSim Ropes and Pulleys Library for the easy creation of winch and pulley systems as part of your machine development. 

See What’s New in MapleSim 2020 for more information about these and other improvements!

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