Commonplace Robotics Mover 4, Руководство пользователя

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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.