SimSet Statement

Set properties of each object of simulator. Operate the robot motion, objects, and simulator settings.

Syntax
(1) Property setting for object

SimSet Object.Property, Value
SimSet Robot.Hand.Property, Value

(2) Motion settings for robot (Pick & Place)

SimSet Robot.Pick, Object [,Tool]
SimSet Robot.Place, Object

(3) Operation settings for objects (specify the parent object)

SimSet Object.SetParent [, ParentObject]

(4) Simulator settings (reset the collision detect)

SimSet ResetCollision

Parameters
(1) Property setting 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 that sets the value. Descriptions of properties are described later.

Value

Formula with new values. Data type depends on properties.

(2) Motion settings for robot (Pick & Place)

Robot

String variable that indicates the robot name to Pick or Place.

Object

String variable that indicates the object name to be Picked or Placed.

Tool

Formula that indicates Tool number which is used at the time of Picking.

(3) Operation settings for objects (specify the parent object)

Object

String variable that indicates the object name which sets the parent object.

ParentObject

String variable that indicates the parent object name.

Description
Use this command to set properties of each object of simulator.

(1) Property setting for object

You can set the objects by specifying the properties shown below.

Property	Descriptions	Unit	Data type	Return value
PositionX	Set a position of X coordinate.	(mm)	Double	Max: 100000 Min: -100000
PositionY	Set a position of Y coordinate.	(mm)	Double	Max: 100000 Min: -100000
PositionZ	Set a position of Z coordinate.	(mm)	Double	Max: 100000 Min: -100000
RotationX	Set rotation angle of X axis.	(degree)	Double	Max: 360 Min: -360
RotationY	Set rotation angle of Y axis.	(degree)	Double	Max: 360 Min: -360
RotationZ	Set rotation angle of Z axis.	(degree)	Double	Max: 360 Min: -360
CollisionCheck	Set enable/disable of collision detect.	-	Boolean	True or False
CollisionCheckSelf	Set enable/disable of self-collision detect of the robot.	-	Boolean	True or False
Visible	Set state of display/non-display.	-	Boolean	True or False
HalfSizeX	Acquire a length of Box object in the X direction.	(mm)	Double	Max: 100000 Min: 0.001
HalfSizeY	Acquire a length of Box object in the Y direction.	(mm)	Double	Max: 100000 Min: 0.001
HalfSizeZ	Acquire a length of Box object in the Z direction.	(mm)	Double	Max: 100000 Min: 0.001
HalfSizeHeight	Acquire a length of Plane object.	(mm)	Double	Max: 100000 Min: 0.001
HalfSizeWidth	Acquire a width of Plane object.	(mm)	Double	Max: 100000 Min: 0.001
PlaneType	Acquire a type of Plane object.	-	Integer	Horizontal: 0 Vertical: 1
Radius	Acquire a radius of Sphere object or Cylinder object.	(mm)	Double	Max: 100000 Min: 0.001
Height	Acquire a height of Cylinder object.	(mm)	Double	Max: 100000 Min: 0.001
Name	Acquire an object name.		String
Color	Acquire a display color of an object.		String	Color name or hexadecimal color code (ARGB)

You can set the property 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	-	✓	✓	✓	✓	✓	✓	✓
HalfSizeX	-	-	✓	-	-	-	-	-
HalfSizeY	-	-	✓	-	-	-	-	-
HalfSizeZ	-	-	✓	-	-	-	-	-
HalfSizeHeight	-	-	-	-	-	✓	-	-
HalfSizeWidth	-	-	-	-	-	✓	-	-
PlaneType	-	-	-	-	-	✓	-	-
Radius	-	-	-	✓	✓	-	-	-
Height	-	-	-	-	✓	-	-	-
Name	✓	✓	✓	✓	✓	✓	✓	✓
Color	-	-	✓	✓	✓	✓	-	-

(2) Motion settings for robot (Pick & Place)

You can set the following robot motions.

• Pick

  The robot specified by “Robot” grasps the object specified by “Object”.

  Grasped object is registered as the part of the robot. Also, if any tool number is specified to “Tool”, you can operate grasped motion by using the specified tool number. If the “Tool” settings are omitted, use Tool0 to operate grasped motion.

  You cannot grasp the object that is already registered as the part or set as an arm installation tool. Also, you cannot grasp the camera.

• Place

  The robot specified by “Robot” places the object specified by “Object”. The placed object is deregistered as the part of the robot.

  You cannot place the objects which registrations are already deregistered.

  You can grasp or place the object by combinations shown in the list below.

  Motion	Objects
  	Robot	Hand	Box	Sphere	Cylinder	Plane	CAD	Camera
  Pick	-	-	✓	✓	✓	✓	✓	-
  Place	-	-	✓	✓	✓	✓	✓	-

(3) Operation settings for objects (specify the parent object)

You can set operations for the following objects

• SetParent

  Set the object specified by “ParentObject” as the parent object for the object specified by “Object”. “ParentObject” can be omitted. In that case, the object specified by “Object” will be the parent object. If the object specified by “Object” is a child object of some object, the setting as the child object is deregistered.

  If the object specified by “Object” is registered as part or arm installation tool, you cannot specify the parent object.

  The objects that can specify the SetParent are as follows. For the camera object, only the object set as a fixed camera can use the SetParent.

  Operation	Objects
  	Robot	Hand	Box	Sphere	Cylinder	Plane	CAD	Camera
  SetParent	-	-	✓	✓	✓	✓	✓	✓

  You can use SetParent by combinations shown in the list below.

  		ParentObject
  		Robot	Hand	Box	Sphere	Cylinder	Plane	CAD	Camera
  Child Object	Robot	-	-	-	-	-	-	-	-
  	Hand	-	-	-	-	-	-	-	-
  	Box	-	-	✓	✓	✓	✓	✓	✓
  	Sphere	-	-	✓	✓	✓	✓	✓	✓
  	Cylinder	-	-	✓	✓	✓	✓	✓	✓
  	Plane	-	-	✓	✓	✓	✓	✓	✓
  	CAD	-	-	✓	✓	✓	✓	✓	✓
  	Camera	-	-	✓	✓	✓	✓	✓	✓

(4) Simulator settings (reset the collision detect) You can change the following simulator settings.

• ResetCollision

  Reset the collision detect. If the robot and the object do not collide after executing ResetCollision, reset the collision state and update the 3D display on the simulator. If the robot and the object collide, the collision state does not be reset and 3D display of the simulator will not be updated.

See Also
SimGet

SimSet Statement Example

‘Set the X coordinate value of SBox_1 object to 100.0mm
SimSet SBox_1.PositionX, 100.0

‘Grasp SBox_1 by Tool1 in Robot1
SimSet Robot1.Pick, SBox_1, 1

‘Place SBox_1 grasped by Robot1
SimSet Robot1.Place, SBox_1

‘Set CAD_1 to the parent object of SBox_1
SimSet SBox_1.SetParent, CAD_1

‘Set SBox_1 as the parent object
SimSet SBox_1.SetParent

‘Reset the collision detect
SimSet ResetCollision