Camera QA Example
With this QA example users can choose what part of vehicle inspect with camera.
HMI Panel File
Robot Program File
# Robot script file
# QA result for each part
label_ok = False
break_ok = False
mirror_ok = False
handle_ok = False
door_ok = False
hinge_ok = False
# user choice - selected part will be inspected
check_label = False
check_break = False
check_mirror = False
check_handle = False
check_door = False
check_hinge = False
home = [1.54, -1.21, -1.91, -3.17, -0.03, -3.14]
# inspection function for each part
def qa_label():
movej([0.50, -0.95, -2.46, -2.87, -1.07, -3.14])
movel(p[0.401, -0.560, 0.513, -1.21, 1.21, -1.21])
movel(p[0.401, -0.060, 0.513, -1.20, 1.21, -1.21])
movel(home)
end
def qa_break():
movel(p[0.398, -0.921, 0.203, -1.20, 1.21, -1.22])
p1 = p[0.391, -1.060, 0.083, -1.20, 1.21, -1.21]
p2 = p[0.381, -0.890, -0.037, -1.20, 1.21, -1.21]
movec(p1, p2)
p3 = p[0.381, -0.710, 0.133, -1.20, 1.21, -1.21]
p4 = p[0.381, -0.920, 0.283, -1.20, 1.21, -1.21]
movec(p3, p4)
movel(home)
end
def qa_mirror():
movej([0.99, -1.96, -0.72, -3.57, 1.18, 0.01])
movel(p[0.646, 0.369, 0.775, 1.59, -0.17, -0.12])
movel(p[0.531, 0.388, 0.773, 1.59, -0.17, -0.13])
movej(home)
end
def qa_handle():
movej([1.55, -2.10, -1.22, -2.97, -0.02, -3.14])
movel(p[0.342, 1.079, 0.592, -1.21, 1.21, -1.21])
movel(p[0.339, 0.867, 0.593, -1.21, 1.21, -1.21])
movej(home)
end
def qa_door():
movej([1.53, -2.36, -0.50, -3.42, -0.45, -3.14])
movel(p[0.353, 1.035, 0.241, -1.38, 0.90, -0.91])
movel(p[0.343, 0.675, 0.241, -1.54, 1.53, -0.91])
movel(p[0.343, 0.205, 0.241, -1.44, 1.76, -1.22])
movej(home)
end
def qa_hinge():
movej([1.53, -2.36, -0.50, -3.42, -0.45, -3.14])
movel(p[0.343, 0.675, 0.241, -1.54, 1.53, -0.91])
movel(p[0.343, 0.205, 0.241, -1.44, 1.76, -1.22])
movej(home)
end
# main function
def start_task():
label_ok = False
break_ok = False
mirror_ok = False
handle_ok = False
door_ok = False
hinge_ok = False
movej(home)
if check_label:
qa_label()
label_ok = True
end
if check_break:
qa_break()
break_ok = True
end
if check_mirror:
qa_mirror()
mirror_ok = True
end
if check_handle:
qa_handle()
handle_ok = True
end
if check_door:
qa_door()
door_ok = True
end
if check_hinge:
qa_hinge()
hinge_ok = True
end
end
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