SimGet Statement
Acquire the setting values of each object properties of simulator.
Syntax
(1) Obtain property for object
SimGet Object.Property, Var
SimGet Robot.Hand.Propoerty, Var
(2) Searching for object
SimGet Robot.NearestObjToTool(Tool), Var
Parameters
(1) Obtain property for object
Object
String variable that indicates object names acquiring the property values.Robot
String variable that indicates the robot name which the hand specified by “Hand” is installed.Hand
String variable that indicates the hand name which acquires the property values.Property
Property name to acquire the value. Descriptions of properties are described later.Var
Variable that indicates return value.
(2) Searching for object
Robot
A string variable that indicates the robot name in which the Tool coordinate that becomes a reference for searching an object is set.Tool
Formula that indicates Tool numberVar
String variable that indicates the object name to be returned
Description
Use this command to acquire the property setting value of each object of simulator.
(1) Obtain property for object
Set the following properties to acquire the object setting values.
| Property | Descriptions | Unit | Data type | Return value |
|---|---|---|---|---|
| PositionX | Acquire a position of X coordinate system. | (mm) | Double | |
| PositionY | Acquire a position of Y coordinate system. | (mm) | Double | |
| PositionZ | Acquire a position of Z coordinate system. | (mm) | Double | |
| RotationX | Acquire rotation angle of X axis. | (degree) | Double | |
| RotationY | Acquire rotation angle of Y axis. | (degree) | Double | |
| RotationZ | Acquire rotation angle of Z axis. | (degree) | Double | |
| OffsetPositionX | Acquires the offset position of X coordinate | Millimeter (mm) | Double | |
| OffsetPositionY | Acquires the offset position of Y coordinate | Millimeter (mm) | Double | |
| OffsetPositionZ | Acquires the offset position of Z coordinate | Millimeter (mm) | Double | |
| OffsetRotationX | Acquires the offset rotation angle of X axis | (degree) | Double | |
| OffsetRotationY | Acquires the offset rotation angle of Y axis | (degree) | Double | |
| OffsetRotationZ | Acquires the offset rotation angle of Z axis | (degree) | Double | |
| CollisionState | Acquires the collision state | - | Boolean | True or False |
| CollisionCheck | Acquire enable/disable of collision detect. | - | Boolean | True or False |
| CollisionCheckSelf | Acquire enable/disable of self-collision detect of the robot. | - | Boolean | True or False |
| Visible | Acquire state of display/non-display. | - | Boolean | True or False |
| ShowLabel | Acquires the visible/hidden state of the object’s label | - | Boolean | True or False |
| ShowOrigin | Acquires the visible/hidden state of the object’s origin coordinate system (center) | - | Boolean | True or False |
| Type | Acquire the types of objects. | - | Integer | Layout: 0 Part: 1 Mounted Device: 3 |
| HalfSizeX | Sets the X direction’s length of the Box object, monitoring area object, and detection area object | Millimeter (mm) | Double | |
| HalfSizeY | Sets the Y direction’s length of the Box object, monitoring area object, and detection area object | Millimeter (mm) | Double | |
| HalfSizeZ | Sets the Z direction’s length of the Box object, monitoring area object, and detection area object | Millimeter (mm) | Double | |
| HalfSizeHeight | Sets the length of the Plane object, monitoring area object, and detection area object | Millimeter (mm) | Double | |
| HalfSizeWidth | Sets the width of the Plane object, monitoring area object, and detection area object | (mm) | Double | |
| PlaneType | Acquire a type of Plane object. | - | Integer | Horizontal: 0 Vertical: 1 |
| Radius | Acquire a radius of Sphere object or Cylinder object. | (mm) | Double | |
| Height | Acquire a height of Cylinder object. | (mm) | Double | |
| Name | Acquire an object name. | String | ||
| Color | Acquire a display color of an object. | String | Color name or hexadecimal color code (ARGB) |
The following properties can only acquire the setting value from conveyor objects.
| Property | Descriptions | Unit | Data type | Return value |
|---|---|---|---|---|
| OperationType | Acquires the conveyor’s operation type | - | Integer | Independent (Not linked with the conveyor tracking setting): 0 Link Tracking (Linked with the conveyor tracking setting): 1 |
| ConveyorID | Acquires the conveyor numbers that has the tracking motion set | - | Integer | |
| ConveyorSpeed | Acquires the conveyor’s operation speed | Millimeter/seconds(mm/s) | Double | |
| ConveyorAccel | Acquires the conveyor’s acceleration | Millimeter/seconds2(mm/s2) | Double | |
| ConveyorDecel | Acquires the conveyor’s deceleration | Millimeter/seconds2(mm/s2) | Double | |
| Forward | Acquires the conveyor’s operation direction | - | Boolean | True or False |
| TriggerIO | Acquires the I/O number to latch the encoder count | - | Integer | |
| Supply | Sets whether to enable or disable the workpiece’s (parts) supply setting | - | Boolean | True or False |
| BaseObject | Acquires objects that will be a reference for the workpieces (parts) | - | String | |
| MaxObject | Acquires the maximum number of workpieces (parts) | - | Integer | |
| IntervalMin | Acquires the minimum time interval for supplying workpieces (parts) | Seconds (s) | Double | |
| IntervalMax | Acquires the maximum time interval for supplying workpieces (parts) | Seconds (s) | Double | |
| RemoveType | Acquires the method to delete workpieces (parts) when they have been transported to the end of the conveyor object | - | Integer | None (Does not delete at the end of the conveyor object): 0 ReachEnd (Deletes at the end of the conveyor object): 1 |
| RandomPlacement | Acquires whether to enable or disable the random placement of workpieces (parts) | - | Boolean | True or False |
| RandomDistance | Acquires the distance for the workpiece’s (parts) random placement | Millimeter (mm) | Double | |
| RandomAngle | Acquires the angle of the workpiece’s (parts) random placement | degree) | Double | |
| ArrangementType | Acquires the type of random placement of workpieces (parts) | - | Integer | One: 0 Grid: 1 Circle: 1 |
| SupplyOffsetX | Acquire the X coordinate offset position of the workpiece’s (parts) random placement | Millimeter (mm) | Double | |
| SupplyOffsetY | Acquire the Y coordinate offset position of the workpiece’s (parts) random placement | Millimeter (mm) | Double | |
| SupplyOffsetZ | Acquire the Z coordinate offset position of the workpiece’s (parts) random placement | Millimeter (mm) | Double | |
| SupplyOffsetU | Acquire the U axis (Z axis) offset position of the workpiece’s (parts) random placement | (degree) | Double | |
| RowNum | Acquires the number of rows when the random placement is Grid | - | Integer | |
| RowSpacing | Acquires the row spacing when the random placement is Grid | Millimeter (mm) | Double | |
| ColNum | Acquires the number of columns when the random placement is Grid | - | Integer | |
| ColSpacing | Acquire the column spacing when the random placement is Grid | Millimeter (mm) | Double | |
| CircleNum | Acquires the number of placement when the random placement is Circle | - | Integer | |
| CircleRadius | Acquires the radius when the random placement is Circle | Millimeter (mm) | Double |
The following properties can only acquire the setting value from the detection range object.
| Property | Descriptions | Unit | Data type | Return value |
|---|---|---|---|---|
| IOType | Acquires the I/O output destination for when an object is detected | - | Integer | Input: 0 Output: 1 Memory: 2 |
| IONumber | Acquires the I/O number of the I/O output destination that was specified in [IOType]. | - | Integer | |
| Action | Acquires the I/O output value | - | Boolean | True or False |
| Trigger | Acquires the timing of the trigger output | - | Integer | LeadingEdge: 0 TrailingEdge: 1 |
| Duration | Acquires the duration of the I/O output | Seconds (s) | Double | |
| Delay | Acquires the delay time of the I/O output | Seconds (s) | Double | |
| EnableVirtualOnly | Acquires whether to enable or disable when the virtual controller is connected | - | Boolean | True or False |
You can acquire the properties by combinations shown in the list below.
| Property | Object | |||||||
|---|---|---|---|---|---|---|---|---|
| Robot | Hand | Box | Sphere | Cylinder | Plane | CAD | Camera | |
| PositionX | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| PositionY | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| PositionZ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| RotationX | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| RotationY | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| RotationZ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| OffsetPostionX | - | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| OffsetPositionY | - | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| OffsetPositionZ | - | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| OffsetRotationX | - | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| OffsetRotationY | - | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| OffsetRotationZ | - | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| CollisionCheck | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| CollisionCheckSelf | ✓ | - | - | - | - | - | - | - |
| CollisionState | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| Visible | - | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| ShowLabel | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| ShowOrigin | - | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| Type | - | - | ✓ | ✓ | ✓ | ✓ | ✓ | - |
| HalfSizeX | - | - | ✓ | - | - | - | - | - |
| HalfSizeY | - | - | ✓ | - | - | - | - | - |
| HalfSizeZ | - | - | ✓ | - | - | - | - | - |
| HalfSizeHeight | - | - | - | - | - | ✓ | - | - |
| HalfSizeWidth | - | - | - | - | - | ✓ | - | - |
| PlaneType | - | - | - | - | - | ✓ | - | - |
| Radius | - | - | - | ✓ | ✓ | - | - | - |
| Height | - | - | - | - | ✓ | - | - | - |
| Name | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| Color | - | - | ✓ | ✓ | ✓ | ✓ | - | - |
| OperationType | - | - | - | - | - | - | - | - |
| ConveroyID | - | - | - | - | - | - | - | - |
| ConveyorSpeed | - | - | - | - | - | - | - | - |
| ConveyorAccel | - | - | - | - | - | - | - | - |
| ConveyorDecel | - | - | - | - | - | - | - | - |
| Forward | - | - | - | - | - | - | - | - |
| TriggerIO | - | - | - | - | - | - | - | ✓ |
| Supply | - | - | - | - | - | - | - | - |
| BaseObject | - | - | - | - | - | - | - | - |
| MaxObject | - | - | - | - | - | - | - | - |
| IntervalMin | - | - | - | - | - | - | - | - |
| IntervalMax | - | - | - | - | - | - | - | - |
| RemoveType | - | - | - | - | - | - | - | - |
| RandomPlacement | - | - | - | - | - | - | - | - |
| RandomDistance | - | - | - | - | - | - | - | - |
| RandomAngle | - | - | - | - | - | - | - | - |
| ArrangementType | - | - | - | - | - | - | - | - |
| SupplyOffsetX | - | - | - | - | - | - | - | - |
| SupplyOffsetY | - | - | - | - | - | - | - | - |
| SupplyOffsetZ | - | - | - | - | - | - | - | - |
| SupplyOffsetU | - | - | - | - | - | - | - | - |
| RowNum | - | - | - | - | - | - | - | - |
| RowSpacing | - | - | - | - | - | - | - | - |
| ColNum | - | - | - | - | - | - | - | - |
| ColSpacing | - | - | - | - | - | - | - | - |
| CircleNum | - | - | - | - | - | - | - | - |
| IOType | - | - | - | - | - | - | - | - |
| IONumber | - | - | - | - | - | - | - | - |
| Action | - | - | - | - | - | - | - | - |
| Trigger | - | - | - | - | - | - | - | - |
| Duration | - | - | - | - | - | - | - | - |
| Delay | - | - | - | - | - | - | - | - |
| EnableVirtualOnly | - | - | - | - | - | - | - | - |
| Property | Object | |||||||
|---|---|---|---|---|---|---|---|---|
| SurveillanceArea | SurveillancePlane | Conveyor | DetectionArea | |||||
| PositionX | ✓ | ✓ | ✓ | ✓ | ||||
| PositionY | ✓ | ✓ | ✓ | ✓ | ||||
| PositionZ | ✓ | ✓ | ✓ | ✓ | ||||
| RotationX | ✓ | ✓ | ✓ | ✓ | ||||
| RotationY | ✓ | ✓ | ✓ | ✓ | ||||
| RotationZ | ✓ | ✓ | ✓ | ✓ | ||||
| OffsetPostionX | ✓ | ✓ | ✓ | ✓ | ||||
| OffsetPositionY | ✓ | ✓ | ✓ | ✓ | ||||
| OffsetPositionZ | ✓ | ✓ | ✓ | ✓ | ||||
| OffsetRotationX | ✓ | ✓ | ✓ | ✓ | ||||
| OffsetRotationY | ✓ | ✓ | ✓ | ✓ | ||||
| OffsetRotationZ | ✓ | ✓ | ✓ | ✓ | ||||
| CollisionCheck | ✓ | ✓ | ✓ | ✓ | ||||
| CollisionCheckSelf | - | - | - | - | ||||
| CollisionState | ✓ | ✓ | ✓ | ✓ | ||||
| Visible | ✓ | ✓ | ✓ | ✓ | ||||
| ShowLabel | ✓ | ✓ | ✓ | ✓ | ||||
| ShowOrigin | ✓ | ✓ | ✓ | ✓ | ||||
| Type | ✓ | ✓ | ✓ | ✓ | ||||
| HalfSizeX | ✓ | - | - | ✓ | ||||
| HalfSizeY | ✓ | - | - | ✓ | ||||
| HalfSizeZ | ✓ | - | - | ✓ | ||||
| HalfSizeHeight | - | ✓ | ✓ | - | ||||
| HalfSizeWidth | - | ✓ | ✓ | - | ||||
| PlaneType | - | - | - | - | ||||
| Radius | - | - | - | - | ||||
| Height | - | - | - | - | ||||
| Name | ✓ | ✓ | ✓ | ✓ | ||||
| Color | ✓ | ✓ | ✓ | ✓ | ||||
| OperationType | - | - | ✓ | - | ||||
| ConveroyID | - | - | ✓ | - | ||||
| ConveyorSpeed | - | - | ✓ | - | ||||
| ConveyorAccel | - | - | ✓ | - | ||||
| ConveyorDecel | - | - | ✓ | - | ||||
| Forward | - | - | ✓ | - | ||||
| TriggerIO | - | - | ✓ | - | ||||
| Supply | - | - | ✓ | - | ||||
| BaseObject | - | - | ✓ | - | ||||
| MaxObject | - | - | ✓ | - | ||||
| IntervalMin | - | - | ✓ | - | ||||
| IntervalMax | - | - | ✓ | - | ||||
| RemoveType | - | - | ✓ | - | ||||
| RandomPlacement | - | - | ✓ | - | ||||
| RandomDistance | - | - | ✓ | - | ||||
| RandomAngle | - | - | ✓ | - | ||||
| ArrangementType | - | - | ✓ | - | ||||
| SupplyOffsetX | - | - | ✓ | - | ||||
| SupplyOffsetY | - | - | ✓ | - | ||||
| SupplyOffsetZ | - | - | ✓ | - | ||||
| SupplyOffsetU | - | - | ✓ | - | ||||
| RowNum | - | - | ✓ | - | ||||
| RowSpacing | - | - | ✓ | - | ||||
| ColNum | - | - | ✓ | - | ||||
| ColSpacing | - | - | ✓ | - | ||||
| CircleNum | - | - | ✓ | - | ||||
| IOType | - | - | - | ✓ | ||||
| IONumber | - | - | - | ✓ | ||||
| Action | - | - | - | ✓ | ||||
| Trigger | - | - | - | ✓ | ||||
| Duration | - | - | - | ✓ | ||||
| Delay | - | - | - | ✓ | ||||
| EnableVirtualOnly | - | - | - | ✓ | ||||
(2) Searching for object
- NearestObjToToo
Searches for the object closest to the tool coordinates of the number specified in "Tool" for the robot specified in "Robot", and acquires its name.
Only the layout object will be searched. However, this does not apply to objects that are set as a child object of another object, or objects that are set as parts or arm mounting devices, including their ancestors.
See Also
SimSet
SimGet Statement Example
‘Acquire X coordinate value of SBox_1 object
Double boxPosX
SimGet SBox_1.PositionX, boxPosX
‘Acquire the state of display/non-display of SBox_1 object
Boolean boxVisible
SimGet SBox_1.Visible, boxVisible
‘Acquire the type of SBox_1 object
Integer boxType
SimGet SBox_1.Type, boxType
‘Acquires the collision state of Robot1
Boolean robotCollision
SimGet Robot1.CollisionState, robotCollision
‘Acquires the object closest to Tool 1 set in Robot1
String nearObject$
SimGet Robot1.NearestObjToTool(1), nearObject$