Abstract: Systems and a method for facilitating a concurrent simulation of multiple tasks of a plurality of robots in a virtual environment, wherein at least one virtual robot is foreseen to concurrently simulate one robotic motion task and a set of robotic logic tasks by concurrently executing one corresponding robotic motion program and a set of corresponding robotic logic programs on a set of operands. During a concurrent execution of the plurality of robotic motion programs and the plurality of sets of robotic logic programs of the plurality of robots, the execution of at least one given logic program is suspended and resumed by repetitively: executing a run of the given logic program; collecting a subset of operands used in the executed run; if none of the collected operands is modified in the execution run, suspending the execution of the given logic program and resuming its execution when one of the collected operands is modified.

Abstract: A method synchronizes first and second simulation systems, each operating in a free running operation thereby exchanging data to run the simulation systems. The method includes: a) providing the first simulation system (PLCSIM) being enabled to run in cycles at a linear speed determined by repeatably setting a scaling factor (sn); b) providing the second simulation system (Process Simulate) to run in cycles at different speeds; c) the second simulation system requests at the end of a cycle a virtual time stamp from the first simulation system; d) calculating on the basis of the virtual time stamp a virtual duration time Atnfs and on the basis of the virtual time stamp after completion of the cycle of the second simulation system a virtual duration time Atnss; and e) calculating an update sn+1 for the scaling factor according the most recent scaling factor sn multiplied by Atnss/Atnfs.