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GB/T 40575-2021: Guidelines of energy efficiency evaluation for industrial robots
GB/T 40575-2021
GB
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 25.040.30
J 28
Guidelines of energy efficiency evaluation for
industrial robots
ISSUED ON: OCTOBER 11, 2021
IMPLEMENTED ON: MAY 01, 2022
Issued by: State Administration for Market Regulation;
Standardization Administration of the People's Republic of
China.
Table of Contents
Foreword ... 3 
1 Scope ... 4 
2 Normative references ... 4 
3 Terms and definitions ... 4 
4 Energy efficiency evaluation process for industrial robots... 6 
5 Test methods for energy efficiency of industrial robots ... 8 
6 Energy efficiency evaluation indicators for industrial robots ... 14 
7 Preparation of evaluation report ... 18 
Annex A (informative) Examples of energy efficiency evaluation of industrial
robots ... 19 
Guidelines of energy efficiency evaluation for
industrial robots
1 Scope
This Standard specifies terms and definitions, energy efficiency evaluation
process, energy efficiency testing methods, energy efficiency evaluation
indicators, energy efficiency analysis and preparation of evaluation reports for
energy efficiency evaluation for industrial robots.
This Standard is applicable to energy efficiency evaluation for industrial robot
body, excluding end effector energy efficiency.
NOTE: The end effector refers to the welding gun, spray gun, and cutting spindle installed
on the mechanical interface of the robot.
2 Normative references
The following referenced documents are indispensable for the application of
this document. For dated references, only the edition cited applies. For undated
references, the latest edition of the referenced document (including any
amendments) applies.
GB/T 12642-2013, Industrial robots - Performance criteria and related test
methods
GB/T 12643-2013, Robots and robotic devices - Vocabulary
GB/T 12644-2001, Industrial robots - Presentation of characteristics
3 Terms and definitions
For the purposes of this document, the terms and definitions defined in GB/T
12643-2013 as well as the followings apply.
3.1 industrial robot
an automatic control, reprogrammable, multi-purpose operating machine,
which can program three and more than three axes; it can be fixed or mobile; it
is used in industrial automation
cycles of an industrial robot under unloaded conditions
3.11 average power with rated load
the average value of the total power of all electrical devices in one or several
cycles of the industrial robot under the rated load condition
3.12 total energy consumption without load
the total energy consumed by the industrial robot under unloaded conditions
3.13 body energy consumption
the energy consumed by the robot body of an industrial robot under unloaded
conditions
3.14 total energy consumption with rated load
the total energy consumed by the robot body and the rated load of the industrial
robot under the rated load condition
3.15 energy consumption with rated load
the energy consumed by the industrial robot at the rated load under the rated
load condition
3.16 body energy efficiency
the ratio of the energy consumption of the industrial robot under unloaded
conditions to the total energy consumption of the unloaded operation
3.17 energy efficiency with rated load
the ratio of the energy consumption of the robot's rated load to the total energy
consumption of the rated load of the industrial robot under the rated load
condition
3.18 energy efficiency evaluation for industrial robots
analysis and quantitative expression of the energy efficiency of industrial robots
NOTE: Including the determination of energy efficiency indicators, the acquisition of energy
data and the calculation of energy efficiency indicators.
4 Energy efficiency evaluation process for industrial
d) Access power detection equipment;
e) According to 5.6~5.8, carry out the power-on state test, unloaded
operation test and rated load operation test of the industrial robot. Obtain
the power-on curve, unloaded operation power curve, and average power
with rated load curve of the industrial robot when it is powered on;
f) According to formula (1) ~ formula (3), calculate the power data of industrial
robot power-on average power, average power without load, and average
power with rated load;
g) On the basis of the power data, according to the formula (4) ~ formula (7),
calculate the total energy consumption without load, the body energy
consumption, the total energy consumption with rated load and the energy
consumption with rated load of the industrial robot;
h) Based on the energy consumption data, according to formula (8) and
formula (9), calculate the body energy efficiency and energy efficiency
with rated load of the industrial robot;
i) Focus on indicators such as power-on average power, average power
without load, average power with rated load, body energy efficiency and
energy efficiency with rated load to analyze the energy efficiency level of
the industrial robot;
j) Prepare an energy efficiency evaluation report for the industrial robot.
See Annex A for an example of energy efficiency evaluation of the industrial
robot.
5 Test methods for energy efficiency of industrial
robots
5.1 General requirements
5.1.1 Units
For the voltage, energy, power, time, length, speed involved in the test, the unit
shall adopt the International System of Units (SI).
5.1.2 Power detection equipment
Before testing, the power testing equipment shall be calibrated. Indicate the
error of the power detection equipment in the evaluation report.
5.1.3 Test temperature
The ambient temperature of the test shall be kept within the range of (20±2)°C.
The use of other ambient temperatures shall be indicated and explained in the
evaluation report.
In order to make the robot and the test equipment in a thermally stable state
before the experiment, they shall be placed in the test environment for a long
enough time (preferably one day and night). It shall also prevent ventilation and
external heat radiation (such as sunlight, heaters).
5.1.4 Operating conditions
The normal operating conditions in the test shall be specified by the industrial
robot manufacturer. Normal operating conditions include power requirements,
maximum single-axis speed requirements, load limits and so on.
5.2 Warming up requirements
Industrial robots shall be warmed up before energy efficiency test. The
operation of the warming up shall meet the requirements in GB/T 12642-2013.
5.3 Rated load of mechanical interface
The rated load operation test shall be carried out under 100% rated load
condition, that is, the mass, the position of the center of gravity and the moment
of inertia specified by the manufacturer. The position of the center of gravity of
the rated load shall comply with the load center of gravity offset parameters
given in Annex A of GB/T 12644-2001.
5.4 Device connection
The power detection equipment shall be connected to the main power supply
of the industrial robot according to the product manual.
5.5 Cyclic exercise test requirements
5.5.1 Test path requirements
The shape of the test path is a curve on the test plane, which is composed of
multiple straight lines and is located in the test cube. The largest cube with side
lengths of 250mm, 400mm, 630mm, and 1000mm shall be used. The test path
is shown in Figure 2.
the movement speed and cycle times specifie...