Using coder.extrinsic in simulink has reduce the speed of simulation time

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Hello everyone,I am doing robot inverse kinematic simulation and i use the coder.extrinsic to include the ik function .
The inverse kinematics can work fine ,but the simulation speed have extrimly slowed down.
Can someone tell me why? Is there any way to solve the slowdown in simulation speed?
I have tried to modify the simulation step size, but it didn't work.
Thanks for any reply,
Best regards,

Accepted Answer

Karsh Tharyani
Karsh Tharyani on 6 May 2022
You can use the Inverse Kinematics block (see Documentation here: which supports Code Generation and should likely speed up your simulation.
If you have additional requirements for your use-case please feel free reach out to Technical Support

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