The paper presents an enhancement for the virtual simulation of analog/mixed-signal systems from high-level SysML models. Embedded systems, e.g. in robotic systems, feature both digital and analog circuits such as sensors and actuators. Simulation of these system requires to handle both domains (digital, analog); our aim is thus to make the interactions between these two domains explicit. For this, the paper first defines new send and receive procedures, then explains how to check semantic aspects of models to ensure a correct simulation. A running example illustrates the basic concepts of our approach. A proof of concept based on an existing rover is also presented.