Prepare a Simscape™ Multibody™ model for code generation with Simulink^® Coder™ software, for example, to run a simulation in accelerator mode. You can set individual block parameters as Compile-time (default) or Run-time. See Code Generation Setup for information on how to prepare a model for code generation. See Generate Code for a Multibody Model for a specific example based on a simple four-bar model.