SimGet Statement
Acquire the setting values of each object properties of simulator.
Syntax
SimGet Object.Property, Var
SimGet Robot.Hand.Propoerty, Var
Parameters
- 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.
Description
Use this command to acquire the property setting value of each object of simulator.
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 | |
| 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 |
| Type | Acquire the types of objects. | - | Integer | Layout: 0 Part: 1 Mounted Device: 3 |
| HalfSizeX | Acquire a length of Box object in the X direction. | (mm) | Double | |
| HalfSizeY | Acquire a length of Box object in the Y direction. | (mm) | Double | |
| HalfSizeZ | Acquire a length of Box object in the Z direction. | (mm) | Double | |
| HalfSizeHeight | Acquire a length of Plane object. | (mm) | Double | |
| HalfSizeWidth | Acquire a width of Plane 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) |
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 | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| CollisionCheck | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| CollisionCheckSelf | ✓ | - | - | - | - | - | - | - |
| Visible | - | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| Type | - | - | ✓ | ✓ | ✓ | ✓ | ✓ | - |
| HalfSizeX | - | - | ✓ | - | - | - | - | - |
| HalfSizeY | - | - | ✓ | - | - | - | - | - |
| HalfSizeZ | - | - | ✓ | - | - | - | - | - |
| HalfSizeHeight | - | - | - | - | - | ✓ | - | - |
| HalfSizeWidth | - | - | - | - | - | ✓ | - | - |
| PlaneType | - | - | - | - | - | ✓ | - | - |
| Radius | - | - | - | ✓ | ✓ | - | - | - |
| Height | - | - | - | - | ✓ | - | - | - |
| Name | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
| Color | - | - | ✓ | ✓ | ✓ | ✓ | - | - |
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