This model can be found in the 20-sim demo directory.
You can open this model and simulate it yourself using the free 20-sim demo/viewer!

Mechatronic System

Description

For a large class of industrial mechatronic systems the motion of the end-effector has to be controlled. Software is required that can read signals, calculate the control signal and that provide other means of IO, such as user interfacing. This demo shows a model of a belt driven load with computer controlled actuator. The actuator control is modeled with a discrete loop, the rest of the model is continuous. This model is therefore representative for a large class of mechatronic systems.