Commonplace Robotics Mover 4 - Configuration

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7. Configuration
7.1 Application Configuration
The application configuration can be done by adapting the parameters in different
XML files.
7.1.1 Startup Configuration
The file c:\CPRog\CPRFrontend.xml allows to set the language and the start project.
<Program Language="DE"/> Possible choices are DE and EN.
<StartUp Project="..\..\Data\Projects\Mover4Basic.prj" />
7.1.2 Project File
The project file can be found in c:\CPRog\Data\Projects\
The initial position of the view camera is defined in the line:
<Camera xPos="683" yPos="826" zPos="306" yRot="-10.1" zRot="-161"/>
Offset and Tool of the robot can be changed:
<Robot Name="Mover" Type="CPRMover4" Homepos="-5.0 10.0 130.0 -70.0 0.0 0.0"
OffsetX="0.0" OffsetY="0.0" OffsetZ ="0.0" OffsetRX="0.0" OffsetRY="0.0"
OffsetRZ="0.0" Parent="-1" Tool="TwoFingerGripper.xml"/>
Objects in the Virtual Environment can be added, static or active:
<ActivePeripheral Name="Conveyor" Gravity="false" Sensable="false"
Geometry="LN_Conveyor.obj" OffsetX="535" OffsetY="-26" OffsetZ ="0" OffsetRX="0"
OffsetRY="0" OffsetRZ="180" GeometryPlatform="LN_ConveyorPlatform.obj"
OffsetPlattformX="-240.0" OffsetPlattformY="0.0" OffsetPlattformZ="175.0"
TravelX="445.0" TravelY="0.0" TravelZ="0.0"/>
<StaticSceneObject Name="WorkPiece" Gravity="true" Sensable="false"
Geometry="LN_Workpiece.obj" OffsetX="780" OffsetY="-26" OffsetZ ="240"
OffsetRX="0" OffsetRY="0" OffsetRZ="0.0"/>
Please refer to the examples to get to know different combinations. The CAD files
have to be in .stl (only ASCII) or AliasWavefront .obj format, units are mm.