25
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.
Summary of Contents for Robot arm mower 4
Page 1: ...1 Bedienungsanleitung Mover4...
Page 2: ...2...
