Camera QA Example
With this QA example users can choose what part of vehicle inspect with camera.
HMI Panel File

Robot Program File
Last updated
With this QA example users can choose what part of vehicle inspect with camera.

Last updated
# 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