User Guide

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7. Configuration
7.1 Application Configuration: CPRFrontend.xml
The application configuration can be done by adapting the parameters in the XML
file CPRFrontend.xml in the CPRog directory, e.g. c:\CPRog\
7.1.1 Language
The language for the next start of CPRog is defined by the line
<Program Language="DE"/> Possible choices are DE and EN.
7.1.2 Camera Position in CPRog
The initial position of the view camera is defined in the line:
<Camera xPos="-100.0" yPos="-220.0" zPos="150.0" xRot="20.0" yRot="-30.0"/>
7.1.3 Objects in the Virtual Environment
Besides the robot further static, active or mobile Objects can be added to the scene.
The following lines define these objects:
<MovableSceneObjects NrOfObjects="1"/>
<MovableSceneObject0 Name="Box" Geometry="Werkstueck.obj" ColorR="0.9"
ColorG="0.9" ColorB="0.9" OffsetX="180.0" OffsetY="100.0" OffsetZ ="200.0" />
<StaticSceneObjects NrOfObjects="1"/>
<StaticSceneObject0 Name="Chessboard" Geometry="ChessboardOuterRim.obj"
ColorR="0.3" ColorG="0.3" ColorB="0.3" OffsetX="200.0" OffsetY="00.0" OffsetZ
="-15.0" OffsetA="0.0" OffsetB="0.0" OffsetC="0.0"/>
<ActiveSceneObjects NrOfObjects="1"/>
<ActiveSceneObject0 Name="BeltConveyor" Type="PlatformConveyor"
SignalIn="3" SignalOut1="4" SignalOut2="5" OffsetX="200.0" OffsetY="-300.0"
OffsetZ ="0.0" OffsetA="0.0" />
The CAD files have to be in .stl or AliasWavefront .obj format, units are mm.