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Hi, I build my simulation system in MapleSim, using the module 'Stepper Permanent Magnet' like this


But when I run this system, I get the followiing error:

System is underdetermined


When I delete the part about 'Stepper Permanent Magnet', the system runs well.

How to solve this problem? How to use 'Stepper Permanent Magnet'?

The Help file of MapleSim cannot proviod such help information.

Thank you.





The trailers for the new Star Wars movie (Star Wars: The Force Awakens) introduced a new Droid called BB-8. This curious little guy features a spherical body and a controlled instrumented head. More recently, the BB-8 droid was showcased in a Star Wars celebration event and to many peoples' surprise it is real and not a CGI effect!

We have a Sphero robot from Orbotix here at the office, and there was an immediate connection between BB-8 and the Sphero. All that remains is to add the head!

Many have already put together their version of the BB-8, but I wanted to have a physical model that I can play with in a virtual environment and explore some design options.



To build a model of BB-8 like robotic system in MapleSim (Maplesoft's physical modeling software environment), I first needed a couple things in place before going forward:

  1. A few simple CAD shapes (half-sphere, wheels)

  2. A component to represent the contact between two spheres (both outside contact and inside contact)

I used Maple’s plottools package to build the CAD files I needed. First a half-spherical shape:

Then a wheel:


The next step was to create the contact component in MapleSim. I used a Modelica custom component to bring together vector calculations of normal and tangential forces with a variety of options for convenience into one component:



Build the model:

We start with a spherical shape contacting the ground:


Then we add two wheels inside it, and a hanging mass to keep the reference axis vertical when the wheels turn:


Learning from published diagrams showing the internal mechanism of a Sphero, another set of free wheels improves the overall stability when motion commands are given to the two active wheels:


Now this model can be used to move around the surface by giving speed commands to the individual motors that drive to the two bottom wheels. What is needed next is the head and the mechanism to move it around.

Since the head can move almost freely, independent of body rotation, it has to be controlled via magnetic contacts and a controlled arm.

First, we add the control arm:


Now we need to build the head.

The head has an identical triangle to the one at the end of the control arm. At each vertex there is a ball bearing that would slide on the surface of the main spherical body without friction. The magnetic force between the corresponding vertices of the two triangles is modeled via the available point-to-point force element in MapleSim.



Once assembled, the MapleSim model diagram looks like this:


...and our BB-8 droid looks like this:



Seeing the BB-8 in action:

Now that we have constructed our droid in MapleSim, we can animate and see it in action!




I want to simulating a mulitibody system, similar circular motion.

schematic diagram:




Why the ball cannot keep on the circle?




is there a way I can use data (variables) from Maple environment in the Maplesim environment. 

I have a scirpt in maple that generates the robots joints angles and need to use them in the 3D robot built in maplesim. I know I can export/Import data, but this sounds redundant. Is there a way to simply use an input block as a source of the data in maplesim and have the variable name generated in maple used int. Similar to what Matlab/Simulink does.. 





i have some problem when iuse the digital libray with the delay components:

i have this error: delay variable not found in dependent variable list, [`Main.TransportDelay1.x`(T)]

it seems that the delay function in the modelica language is not well treated in MapleSim . At this level:


    y = if 0 < delayTime then if delayTime <= time then x_delayed else y0 else pre(x);
    x_delayed = integer(delay(x, delayTime));
end Modelica.Electrical.Digital.Delay.TransportDelay;


Thank you for your help.



Maplesim 7.0(1) installer looks for Maple 18 installation.  Will Maplesim work with Maple 2015?

If not, what is the expected date of making both products compatible?



Hi! I'm having trouble with the MapleSim "Equation Extraction" template. I have an extremely simple dynamics scenario with RigidBody at a particular position in a world; when the simulation starts, the body should simply start fallin with a constant acceleration, and I'm looking to extract kinematic equations for this situation.

However, the problem I have with the extracted equations is that they contain some rotational dependent terms that I wish to avoid - a lot of sines and cosines with arguments that I actually cannot match up to any variables in the model, or when I enable quaternion representation, terms like this:

What I don't understand is what exactly these rotation terms represent. The object should be falling straight downwards, and gravitation should be applied straight downwards, and when I start the simulation it does run through, also indicating that there should be no unbound variables. I'm not sure exactly what parameters in the Modelica model do they correspond to? I did not find any such angles in the object settings. And can I ask MapleSim to generate equations without these unbound rotation variables?

Hi! I'm trying to use MapleSim 7 to simulate some very simple physical situations, however after great many hours spent at this, I'm still unable to convince MapleSim to load and run even the simplest Modelica models, like:

model Main
  Modelica.Mechanics.MultiBody.Parts.Body o(r_CM = zeros(3));
  inner .Modelica.Mechanics.MultiBody.World world;
  o.frame_b.f = {0,-9.8,0};
end Main;

It will report that o and world are "unknowns" and apparently does not recongize Modelica.Mechanics.MultiBody.Parts.Body nor Modelica.Mechanics.MultiBody.World. Do I need to do some extra steps to import extra libraries or enable some non-default components?  I went through various YouTube and other tutorials and didn't find a mention of anything.

When I look at some examples, often they refer to things like Maplesoft.Multibody.World - but these are proprietary Maple packages, and I need my code to use standard Modelica. Does this mean that MapleSim cannot run generic Modelica code like this?

I also tried running e.g. and some other examples, with absolutely no success either. I'm quite confused because MapleSim has a lot of advertising about Modelica support... :-(

We’ve just released a free maintenance release to MapleSim 7. This update includes improvements to MapleSim, the MapleSim Battery Library, and the MapleSim Connector for FMI. For details, see the MapleSim 7.01 update page.

From MapleSim, you can get this update from Help>Check for Updates, or download it from the update page. (If Check for Updates doesn't find anything, please try again tomorrow.)


Hi everybody,

is it possible to define an homokinetic joint in MapleSim for multibody modeling? How can I do that?




Is it possible to hide the geometry linked to the center of gravity and masses in the implicit geometry and keep only the kinematic joint.

If yes, may you explain how ? For the moment, I only manage to show/hide all the element of the implicit geometry. 

I use MapleSim 6.4.

Thank you for your help.



I used to use windows 32 bit, but I have 64 bit windows now. I installed the MapleSim 6.4 and Maple 18 and try to run the simulations that I created with the 32 bit windows. I have this error 'Unable to compile (rc=1), please try again, and if that fails verify your Windows compiller installation'. Could you please let me know what should I do to eliminate this problem?




I would like to copy/ paste my maplesim model in microsoft visio.

The idea is to create a vectorial illustration for presentation.

I manage to do this with simulink but not with Maplesim.

Apparently, when I go in visio, there is no possibility to copy like a metafile.

Is there a possibility to copy the object of a Maplesim model in a software like visio or illustrator so as to be able to create vectorial illustration for presentation ?

Thank you for your help.

Updates are now available for both Maple 18 and MapleSim 6.4. 

Maple 18.02 contains improvements to many areas, including:

  • Rendering of 2-D plots
  • Help pages and examples
  • Interactive components
  • MATLAB 2014a support
  • Math engine: Laplace transforms, complex floats, simplify
  • Matrix import
  • Context menus
  • Typesetting
  • Memory management
  • OpenMaple API
  • Physics (details in comments)

To get this update, you can use Tools>Check for Updates from within Maple, or visit Maple 18.02 Downloads. (But depending on when you read this, Check for Updates may not have kicked in yet. If it doesn't find anything, wait until tomorrow morning and try again.)

For those users who haven't upgraded to MapleSim 7 yet, MapleSim 6.4.01 includes:

  • Efficiency improvements to the simulation engine, taking advantage of enhancements in Maple 18.02
  • Improvements to C code generation for model export
  • Improved handling of indexed variables when generating Modelica code

In MapleSim, use  Help>Check for Updates or visit MapleSim 6.4.02 Update. Note that MapleSim 6.4.02 is compatible with Maple 18.02.  Upgrade your Maple 18 installation to Maple 18.02 before installing this MapleSim update.


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