Abstract Mechatronic systems abound in technological fields such as robotics and machine tools industry. Significant advances in dynamic performance of these systems can be achieved provided that mutual interactions of different domains (such as mechanics, electronics, hydraulics and control) are thoroughly understood. Virtual prototyping entails integration of multi-domain dynamic simulation in the design process, in order to reproduce and analyze the effects of design choices on the overall performance. This paper states the requirements of the modeling language and software tool for simulation of mechatronic systems and describes an experience of use of DYMOLA with Modelica language in the simulation of a complete machining center. The model has been successfully validated against experimental results collected on the real machining center.