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This paper aims to explain how simulation and emulation are interrelatd, and why they are of benefit to Automatic Material Handling Systems (AMHS) projects at different times and in different ways. More specifically, the paper documents current thinking on the use of simulation models to provide feedback to industrial control systems in order to test their logical operation prior to commissioning. The concept of what is meant by emulation in this context is defined, and the differences and similarities between emulation and simulation are detailed. Several emulation case studies are described to illustrate the use of a simulation model in this domain, and an overview of the technical background to emulation is included to aid understanding of how this is achieved. The paper concludes with a discussion of where emulation is most usefully applicable, how current standards have allowed its ready adoption to date, and possible areas of future development.