With the advent of the Industry 4.0 movement, smart multiagent-based cyber-physical systems (CPS) are being more and more often proposed as a possible solution to tackle the requirements of intelligence, pluggability, scalability and connectivity of this paradigm. CPS have been suggested for a wide array of applications, including control, monitoring and optimization of manufacturing systems. However, there are several associated challenges in terms of validating and testing these systems due to their innate characteristics, emergent behavior, as well as the availability and cost of physical resources. Therefore, a dynamic simulation model constructed in V-REP is proposed as a way to test, validate and improve such systems, being applied to a data acquisition and pre-processing scenario as one of the key aspects of the interaction between a CPS and the shop-floor.