User Guide

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\Mover6.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="Mover6" Type="CPR_Mover6" Homepos = "0.0 -11.0 46.0 0.0 -37.0
0.0" OffsetX="0" OffsetY="0" OffsetZ ="10" OffsetRX="0" OffsetRY="0"
OffsetRZ="0" Parent="-1" Tool="TwoFingerGripper.xml" FlipMesh="True"/>
The initial robot program is specified:
<Program File="\Programs\6AxisTest.xml" Override="70" Repeat="true"/>
Objects in the Virtual Environment can be added, static or active:
<StaticSceneObject Name="WorkPiece" Geometry="zylinder.obj" Gravity="true"
Sensable="false" Process="None" OffsetX="350" OffsetY="-150" OffsetZ ="0"
OffsetRX="0" OffsetRY="0" OffsetRZ="0.0" FlipMesh="True"/>
Please refer to the examples to get to know different combinations. The CAD files
have to be in .stl (ASCII and binary) or AliasWavefront .obj format, units are mm.