Now, embedded software almost had been applied in all fields and always played a crucial role. Embedded software be used so extensive that insure embedded software can reach its functionality is very important.Almost all of the embedded software systems have one common feature: they all have some small functional units. These small functional units maybe independent with each other, maybe closely connected with each other. Because of these functional units are so scattered, it is inconvenient to systematic understand this embedded system and it is immensely complex to generate test case. Moreover, it is difficult to manage the test case and difficult to verify the system functionality’s correctness comprehensively. In the survey report, about 50% efforts is spent on testing in the software developing life cycle. Thus, it is essential to develop an approach to generate test cases rapidly and verify test cases easily.This paper based on the actual robot system, illustrate scenario based software testing as follows: We organized all of the functional modules into a tree structure. For each branch of the tree, we do some detailed analysis using the ACDATE (Actor, Condition, Data, Action, Timing, Event,) information. These ACDATE elements represent the function’s characteristic and it is useful to generate test case from the system. To make the function more structuring, we give each branch of the tree a logical description with the ACDATE information. So, it is clearly to get the function’s performing structure. In this paper we call it scenario description. There are three scenario types are summarized in this paper. And, we analyzed the relationship of these scenarios from different respects. It will be fund that some of the scenarios have some similarity, on logic description or organization structure. And they maybe have some common ACDATE information elements. In order to systematic generate test case for the system, we used scenario pattern (SP) which represent some particular scenarios’ common structure. Further, we can develop verification pattern (VP) for each SP to verify these particular scenarios’ test case.We can decide the inputs and the expected output of each scenario from the ACDATE information. It has been successfully applied on our robot system using the technique that mentioned above. And we also found that some test cases can be reused. This technique is convenient for test case generation and rapidly to verify whether the system performed the functions that the end user required.