GB/T 38336-2019 PDF English
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Industrial, scientific and medical robots -- Electromagnetic compatibility -- Emission methods of measurement and limits
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GB/T 38336-2019: PDF in English (GBT 38336-2019) GB/T 38336-2019
GB
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 33.100
L 06
Industrial, Scientific and Medical Robots -
Electromagnetic Compatibility - Emission Methods of
Measurement and Limits
ISSUED ON: DECEMBER 10, 2019
IMPLEMENTED ON: JULY 1, 2020
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, Definitions and Abbreviations ... 5
4 Classification of Engineering and Medical Robots ... 8
4.1 User Information ... 8
4.2 Grouping ... 9
4.3 Classification ... 9
5 Measurement Conditions and Test Arrangement ... 9
5.1 Measurement Conditions ... 9
5.2 Arrangement of Engineering and Medical Robots ... 12
6 Emission Limits ... 23
6.1 Emission Limits of Harmonic Current and Voltage Fluctuation ... 23
6.2 Conducted Disturbance Limits for Power and Telecommunication Ports ... 24
6.3 Limits for Electromagnetic Radiated Disturbance ... 27
7 User Files ... 32
8 Measurement Uncertainty ... 33
9 Test Report ... 34
Appendix A (informative) Example of Classification of Engineering and Medical
Robots ... 36
Appendix B (informative) Example of Typical Operating Modes of Medical
Robots ... 39
Bibliography ... 40
Industrial, Scientific and Medical Robots -
Electromagnetic Compatibility - Emission Methods of
Measurement and Limits
1 Scope
This Standard specifies the emission measurement procedures and corresponding
limits for the electromagnetic disturbance level generated by industrial, scientific and
medical robots (hereinafter referred to as engineering and medical robots). The
applicable frequency range is 0 Hz ~ 400 GHz.
NOTE: for frequency bands that do not have specified limits, the measurement is not
necessary.
This Standard is applicable to engineering and medical robots, which include, but are
not limited to: welding robots, spraying robots, handling robots, processing robots,
assembly robots, cleaning robots, medical robots, teaching and experimental robots,
etc. An example of the classification of the engineering and medical robots is shown in
Appendix A.
This Standard does not apply to unmanned aerial vehicles, toys and entertainment
robots, etc.
2 Normative References
The following documents are indispensable to the application of this document. In
terms of references with a specified date, only versions with a specified date are
applicable to this document. In terms of references without a specified date, the latest
version (including all the modifications) is applicable to this document.
GB/T 4365-2003 Electrotechnical Terminology - Electromagnetic Compatibility
GB/T 6113.101 Specification for Radio Disturbance and Immunity Measuring
Apparatus and Methods of Measurement - Part 1-1: Radio Disturbance and Immunity
Measuring Apparatus - Measuring Equipment
GB/T 6113.102 Specification for Radio Disturbance and Immunity Measuring
Apparatus and Methods of Measurement - Part 1-2: Radio Disturbance and Immunity
Measuring Apparatus - Coupling Devices for Conducted Disturbance Measurements
GB/T 6113.104 Radio Disturbance and Immunity Measuring Apparatus and Methods -
Part 1-4: Radio Disturbance and Immunity Measuring Apparatus - Radiated
Robot refers to an actuator that has two or more programmable axles and a certain
degree of initiative ability, which enables it to move in the environment to perform
expected tasks.
NOTE 1: robot includes control system and control system interface.
NOTE 2: Definition 2.6 of GB/T 12643-2013 is modified.
3.1.2 Mobile robot
Mobile robot refers to a robot based on its own control and movement.
NOTE: in this Standard, it is referred to as mobile engineering and medical robot.
[GB/T 12643-2013, Definition 2.10]
3.1.3 Industrial robot
Industrial robot refers to an automatically controlled, re-programmable, multi-purpose
manipulator that can program three or more axles. It can be stationary-type or mobile-
type. It is used in industrial automation.
NOTE 1: industrial robot includes:
---manipulator, including actuator;
---controller, including teaching box and some communication interfaces
(hardware and software).
NOTE 2: it includes some integrated additional axles.
[GB/T 12643-2013, Definition 2.9]
3.1.4 Medical robot
Medical robot is a robot used as electrical medical equipment or electrical medical
system.
[IEC TR 60601-4-1: 2017, 3.20]
3.1.5 Electromagnetic environment
Electromagnetic environment is the sum of all electromagnetic phenomena that exist
in a certain given place.
[GB/T 4365-2003, Definition 161-01-01]
3.1.6 Electromagnetic disturbance
Electromagnetic disturbance refers to any electromagnetic phenomenon that may
robot file. Meanwhile, the manufacturer and / or supplier shall also specify the meaning
of the group and category in the robot file.
4.2 Grouping
The engineering and medical robots within the scope of this Standard are divided into
two groups, namely, Group 1 and Group 2.
Group 1 of engineering and medical robots
Other engineering and medical robots, other than Group 2 of engineering and medical
robots within the scope of this Standard.
Group 2 of engineering and medical robots
They include all engineering and medical robots that intentionally generate and use or
partially use radio frequency energy in the frequency range of 9 kHz ~ 400 GHz in the
form of electromagnetic radiation, inductive and / or capacitive coupling, and are used
for material processing or inspection / analysis purposes, or for the transmission of
electromagnetic energy.
4.3 Classification
In accordance with the intended use of engineering and medical robots in the
electromagnetic environment, this Standard defines two types of engineering and
medical robots, namely, Type A and Type B.
Type A of engineering and medical robots: engineering and medical robots used in
non-residential environment and are not directly connected to residential low-voltage
power supply network facilities. Type A of engineering and medical robots shall satisfy
the limits of Type A.
Type B of engineering and medical robots: engineering and medical robots used in
residential environment and are directly connected to residential low-voltage power
supply network facilities. Type B of engineering and medical robots shall satisfy the
limits of Type B.
NOTE: the grouping and classification of the engineering and medical robots in this
Chapter are for conducted disturbance and radiated disturbance; harmonic current
shall be classified in accordance with GB 17625.1 and GB/T 17625.8.
5 Measurement Conditions and Test Arrangement
5.1 Measurement Conditions
5.1.1 Overview
The engineering and medical robots shall be correctly installed (electrical installation
and mechanical installation) and thoroughly operated in accordance with the typical
operating condition specified by the manufacturer. The engineering and medical robots
shall be measured in a “typical configuration” condition. If the manufacturer requires
external filtering and / or shielding devices or has specified measures in accordance
with the user manual, then, the measurement in this Standard shall be performed with
the corresponding specified devices and measures; the specific devices and measures
shall be elaborated in the report. If special measures shall be taken in order to comply
with the requirements of the Standard, for example, the use of shielded cables or
special cables, then, relevant information shall be provided in the accompanying
documents; the adopted measures shall be described in the report.
The configuration and working status of the engineering and medical robots shall be
recorded in the inspection report. If the engineering and medical robots have many
similar ports, or some ports have many similar connections, then, a sufficient number
of ports and connections shall be selected to simulate the actual working condition, so
as to ensure that all different types of terminals are covered.
If the engineering and medical robots are a part of the system, or can be connected to
auxiliary equipment, then, during the test, the engineering and medical robots shall be
connected to a sufficient number of representative auxiliary equipment to be used at
the port.
5.1.2 Ambient noise
The test site for type test shall be able to distinguish the emission of the engineering
and medical robots from the ambient noise. The environmental applicability can be
determined by measuring the ambient noise level when the engineering and medical
robots are not working. It is necessary to ensure that the ambient noise level is at least
6 dB lower than the limit specified in Chapter 6 to facilitate the measurement. For more
information regarding compliance test in the presence of ambient noise, see 6.2.2 of
GB/T 6113.201-2018 and 6.2.2 of GB/T 6113.203-2016.
If the ambient noise level plus the emission of the engineering and medical robots, still
does not exceed the specified limit, there is no need to reduce the ambient noise level
to below 6 dB of the specified limit. Under this circumstance, it can be deemed that the
engineering and medical robots have satisfied the specified limit.
5.1.3 Description of test operation mode
In accordance with the installation mode, the engineering and medical robots can be
divided into stationary-type engineering and medical robots and mobile-type
engineering and medical robots. The description of the corresponding test operation
modes is as follows:
a) Stationary-type engineering and medical robots
5.2.2.1.2 Arrangement of desktop engineering and medical robots
In order to measure the conducted disturbance, the engineering and medical robots
shall be connected to the power supply and any other extended networks (generally,
the V-shaped artificial power network is used for the power port, see Figure 2) through
one or multiple artificial networks in accordance with the following requirements.
Whether they are grounded or not, the desktop engineering and medical robots shall
be placed in accordance with the following stipulations:
a) The bottom or back of the engineering and medical robots shall be placed at
a controllable distance of 40 cm from the reference ground plane. This ground
plane is usually a certain wall or floor of a shielded room, and it can also be a
ground metal plate with a size of at least 2 m 2 m. The actual arrangement
can be achieved through the following methods:
1) The engineering and medical robots are placed on an insulating material
test bench that is at least 80 cm high, and it is 40 cm away from any wall
of the shielded room; or
2) The engineering and medical robots are placed on an insulating material
test bench that is 40 cm high, so that the bottom is 40 cm higher than the
ground plane.
b) The distance between all other conductive planes of the engineering and
medical robots and the reference ground plate shall be greater than 40 cm.
c) The cable connection of the engineering and medical robots is shown in
Figure 2.
d) As it is shown in Figure 2, those artificial power networks are connected to the
ground plane in a mode that the distance from one side of the artificial network
enclosure to the vertical reference ground plane and other metal parts is 40
cm. The V-shaped artificial power supply network and Y-shaped impedance
stabilization network are shown in Figure 2.
Figure 4 -- Example of Test Arrangement of Conducted Disturbance
Measurement of Desktop and Floor-standing Engineering and Medical Robots
5.2.2.2 Arrangement of radiated disturbance measurement
5.2.2.2.1 Arrangement of desktop engineering and medical robots
The engineering and medical robots used as desktop equipment shall be placed on a
non-metallic bench. The height of the bench is 0.8 m; the size is usually 1.5 m 1.0 m;
but the actual size depends on the horizontal size of the engineering and medical
robots.
The engineering and medical robots (including the robots, and peripheral and auxiliary
equipment or devices connected to the robots) shall be arranged in accordance with
the normal service condition. The cables between the units shall droop from the back
edge of the test bench. If the distance between the drooped cable and the horizontal
ground plate is less than 0.4 m, then, the extra-long part of the cable shall be
respectively bundled into S-shape with a line segment of 30 cm ~ 40 cm near its center,
so that it is at least 0.4 m above the horizontal reference ground plate. The placement
of the cable shall be arranged in accordance with the normal service condition. If the
length of the main input cable is less than 0.8 m (including the power circuit in the main
plug cord), the main input cable shall be lengthened, so that the external power supply
components can also be placed on the test bench. The lengthened cable shall have
the same characteristics (including the number of conductors and the grounding
condition) as the main input cable and be considered as a part of the main cable. In
the above situation, the cable arrangement between the engineering and medical robot
and the auxiliary electrical equipment shall be the same as the cable arrangement
between the robots.
If the cables are so thick or rigid that it is difficult to handle them in accordance with the
above-mentioned requirements, then, they may be arranged in accordance with the
actual situation, but they cannot be coiled; this situation shall be described in the test
report.
Figure 5 is an example of a typical arrangement of radiated disturbance measurement
of desktop engineering and medical robots. The measurement arrangement shall be
representative of the normal actual installation and application and placed in the center
of the vertical axis of the turntable.
For the radiated disturbance measurement at a distance of 3 m in the OATS or SAC,
the radiation evaluation of the engineering and medical robot cables shall be limited to
the internal connection cables and power cable part within the measurement area
(diameter not exceeding 1.2 m; height above the ground not exceeding 1.5 m).
The peripheral equipment beyond the measurement area shall be isolated from the
test environment, or decoupling measures shall be taken. If the cable connected to the
peripheral equipment cannot be prolonged beyond the test area, then, the peripheral
of the group and category in the accompanying documents.
The accompanying documents shall include details of all precautions available to the
buyer or user, so as to ensure that the normal operation and application will not cause
harmful radio frequency interference (RFI).
For Type A engineering and medical robots, the accompanying documents shall
include the following details:
The radio frequency interference that may be caused by the operation of Type A
engineering and medical robots in a specific environment. During installation,
measures shall be taken to reduce the emission of Type A engineering and medical
robots.
For Type A engineering and medical robots, the product instruction manual shall
include the following content:
WARNING---this type of engineering and medical robots are not intended to be
used in residential environment, in which, sufficient protection cannot be
provided for radio reception.
8 Measurement Uncertainty
The determination of compliance with the limits of this Standard shall be based on the
compliance measurement result, which shall take the uncertainty of the measuring
instrument into consideration.
The guidelines for the calculation of measuring instrument uncertainty specified in
GB/T 6113.402 shall be followed in the evaluation of measurement uncertainty. When
performing compliance determination of the measurement result, the uncertainty of the
measuring instrument shall be considered in accordance with the stipulations of GB/T
6113.402. When the measured laboratory uncertainty Ulab is greater than the value
UCISPR provided in GB/T 6113.402, the confirmation calculation of the measurement
result and any adjustment to the measurement result shall be included in the test report.
When Ulab is ≤ UCISPR, there is no need to make any adjustments to the measurement
result. The measurement result is directly compared with the corresponding limit to
determine its compliance with the Standard.
For on-site measurement, the uncertainty caused by the site itself cannot be effectively
and accurately evaluated, so it is temporarily not included in the uncertainty calculation.
However, it shall be understood that under this circumstance, the measurement
uncertainty introduced by the site is much greater than the uncertainty of the standard
test site.
When the measurement distance is less than 10 m, greater measurement uncertainty
shall be considered.
9 Test Report
The test report shall include all the information that can reproduce the test, which
includes (but is not limited to) the following contents:
---The content specified in the test scheme;
---Identification of engineering and medical robot, and auxiliary equipment, such
as: trademark name, product model and serial No.;
---Identification of test equipment, such as: trademark name, product model and
serial No., and measurement / calibration validity period;
---Any special environmental conditions required for tests, such as: shielded
rooms and anechoic chambers, etc.;
---Any specific conditions necessary for tests;
---The ambient temperature, humidity and atmospheric pressure parameters
during tests;
---Any adopted special conditions, such as: cable length, type, shielding or
grounding condition, operating conditions of engineering and medical robots,
shall comply with the specified requirements;
---The complete description of the placement and angle of cables and equipment
shall be included in the report, and in some circumstances, photos may be
sufficient.
For the conducted disturbance measurement, among those conducted disturbances
that exceed (L - 20 dB) (L is the limit level expressed in logarithmic unit), the record
shall at least include the disturbance levels of the 6 maximum disturbances and their
corresponding frequency points of each power port of the robot in each frequency band
of observation. The record shall also include the power terminal corresponding to each
observed disturbance level.
For the radiated disturbance measurement, among those radiated disturbances that
exceed (L - 10 dB) (L is the limit level expressed in logarithmic unit), the record shall
at least include the disturbance levels of the 6 maximum disturbances and their
corresponding frequency points in each frequency band of observation. The record
shall also include the antenna polarization direction, antenna height and turntable
angle corresponding to the recorded disturbance levels (if applicable). The
measurement distance actually selected and used on the test site shall also be
recorded in the test report.
In addition, the test report shall include the uncertainty of measuring instruments and
......
Source: Above contents are excerpted from the PDF -- translated/reviewed by: www.chinesestandard.net / Wayne Zheng et al.
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