Control vs. plant gap
PLC logic is tested on hardware late, after mechanical design is frozen.
Skip to contentThe challenge 01 02 03 Reference workflow Capabilities Supported formats
Robotics & Industrial Automation
From robot description to verified controller
Load URDF/Xacro robots and Adams mechanisms, run IEC 61131-3 PLC programs on a virtual PLC, and formally verify control logic against the plant model.
$ msx urdf lint Manipulator.xacro
$ msx urdf to-modelica PandaArm.urdf --out=PandaArm.mo
$ msx adams mobility FourBarLinkage.adm
What slows robotics & industrial automation teams down
Format conversions
Robot descriptions, CAD, and mechanism models must be converted by hand.
Unsafe edge cases
Interlocks and state machines fail in ways that tests rarely cover.
One pipeline, end to end
- 1
Describe
URDF / STEP / Adams
- 2
Control
PLCopen & IEC 61131-3
- 3
Simulate
Virtual commissioning
- 4
Verify
Safety properties
What ModelScript does for you
Robot dynamics
URDF/Xacro kinematics with Featherstone dynamics and Modelica export.
Virtual PLC
Cyclic IEC 61131-3 execution coupled to a sampled-data plant.
Mechanism analysis
Mobility analysis and translation of Adams and SIMPACK mechanisms.
Formal verification
Check PLC logic and controllers with model checking.
Works with the tools you already use
.urdfURDF / XacroRobot kinematics & dynamics.stPLCopen / IEC 61131-3PLC control software.admMSC AdamsMechanical system dynamics.spckSIMPACKSpatial multibody dynamics.stepSTEP (ISO 10303)B-Rep CAD assemblies & AP242 PMI.scadOpenSCADParametric constructive solid geometry.moModelicaAcausal multi-domain physics
Open-core toolchain that runs anywhere
Browser, CLI, VS Code, CI pipelines, or air-gapped Enterprise Appliances (AGPL-3.0 Core & Commercial Editions).