GB/T 40576-2021 PDF in English
GB/T 40576-2021 (GB/T40576-2021, GBT 40576-2021, GBT40576-2021)
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Evaluation methodology for operation efficiency of industrial robots
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GB/T 40576-2021: PDF in English (GBT 40576-2021) GB/T 40576-2021
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 25.040.30
J 28
Evaluation Methodology for Operation Efficiency of
Industrial Robots
ISSUED ON: OCTOBER 11, 2021
IMPLEMENTED ON: MAY 1, 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 Operation Efficiency Evaluation Process ... 5
5 Method for Standard Cycle Operation Test ... 7
6 Method for Actual Condition Operation Test ... 9
7 Operation Efficiency Evaluation Indicators ... 12
8 Preparation of Evaluation Report ... 14
Appendix A (informative) Methods for Operation Efficiency Optimization of Industrial
Robots ... 15
Appendix B (informative) An Example of Operation Efficiency Evaluation of Industrial
Robot ... 17
Evaluation Methodology for Operation Efficiency of
Industrial Robots
1 Scope
This Standard specifies the methods for energy consumption test and operation efficiency
evaluation of industrial robots in manufacturing environment.
This Standard is applicable to robot user’s evaluation of the efficiency of industrial robot’s
operation process, so as to realize the energy consumption management and control during the
operation of the industrial robots.
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 12643-2013 Robots and Robotic Devices - Vocabulary
GB/T 40575 Guidelines of Energy Efficiency Evaluation for Industrial Robots
3 Terms and Definitions
What is defined in GB/T 12643-2013 and GB/T 40575, and the following terms and definitions
are applicable to this document.
3.1 Step
Step refers to the part of the process that is continuously completed under the condition that the
machined surface (or the connection surface during assembly, the work piece during handling)
and the machining tools (or assembly, handling) remain unchanged.
NOTE: Definition 3.4.3 of GB/T 4863-2008 is modified.
3.2 Task of an Industrial Robot
Task of an industrial robot refers to the sum of the actions of a series of steps during the
completion of a specific operation by an industrial robot.
3.3 Standard Cycle
Standard cycle refers to the process of an industrial robot completing a qualified task under
standard working conditions.
3.4 Assistant Energy Consumption
Assistant energy consumption refers to the energy consumed in the assistant time during the
operation of an industrial robot.
3.5 Fault Status Energy Consumption
Fault status energy consumption refers to the energy consumed under fault status during the
operation of an industrial robot.
3.6 Nominal Energy Consumption in Operation
Nominal energy consumption in operation refers to the average value of energy consumed by
repeated completion of multiple standard cycles.
3.7 Energy Efficiency Ratio in Operation
Energy efficiency ratio in operation refers to the ratio of the nominal energy consumption to the
average value of actual energy consumption in operation for the completion of a qualified task.
3.8 Assistant Energy Consumption Ratio in Operation
Assistant energy consumption ratio in operation refers to the ratio of assistant energy
consumption to the total energy consumption.
3.9 Fault Status Energy Consumption Ratio in Operation
Fault status energy consumption ratio in operation refers to the ratio of fault status energy
consumption to the total energy consumption.
4 Operation Efficiency Evaluation Process
The operation efficiency evaluation process of the industrial robots is shown in Figure 1:
d) In accordance with Formula (1) ~ Formula (4), respectively calculate the total energy
consumption of standard cycle operation, the total energy consumption of actual
condition operation, the assistant energy consumption and the fault status energy
consumption, etc.;
e) On the basis of energy consumption data, in accordance with Formula (5) ~ Formula
(8), respectively calculate the evaluation indicators, such as: nominal energy
consumption in operation, assistant energy consumption ratio in operation, fault status
energy consumption ratio in operation and energy efficiency ratio in operation;
analysis the operation efficiency level of the industrial robots;
f) Put forward suggestions for the optimization of the operation efficiency of the
industrial robots. See the optimization method in Appendix A;
g) Write a report on operation efficiency evaluation of the industrial robots.
An example of the operation efficiency evaluation of the industrial robots is shown in Appendix
B.
5 Method for Standard Cycle Operation Test
5.1 Test Requirement
The power detection equipment, test temperature, operating conditions and warm-up
requirements involved in the test shall comply with the stipulations of Chapter 5 in GB/T .
5.2 Test Steps
Through the following steps, carry out the standard cycle operation test on the industrial robots:
a) Install an end effector of the industrial robot and set the standard production
conditions;
b) Perform a warm-up operation on the industrial robot;
c) Connect the power detection equipment to the main power supply of the industrial
robot;
d) Turn on the main power of the industrial robot and enable each motor of the industrial
robot;
e) Execute the operation program of the industrial robot;
f) Cancel the enabling of each motor of the industrial robot and turn off the main power
supply of the industrial robot.
5.3 Result Recording
n---the number of steps involved in the standard cycle;
tis---the start time of the ith step, expressed in (s);
tie---the end time of the ith step, expressed in (s).
6 Method for Actual Condition Operation Test
6.1 Test Requirement
The power detection equipment and operating conditions involved in the test shall comply with
the stipulations of Chapter 5 in GB/T .
6.2 Test Steps
Through the following steps, carry out the actual condition operation test on the industrial
robots:
a) Select the institutional hours or shifts for the test;
b) Connect the industrial robot to the operation station;
c) Install the end effector of the industrial robot;
d) Connect the power detection equipment to the main power supply of the industrial
robot;
e) Turn on the main power supply of the industrial robot and enable each motor of the
industrial robot;
f) Execute the operation program of the industrial robot;
g) Cancel the enabling of each motor of the industrial robot and turn off the main power
supply of the industrial robot.
The operation program of the industrial robot in the actual condition operation test shall be the
same as that of the industrial robot in the standard cycle operation test.
6.3 Result Recording
Through the power detection equipment, measure the power change of the industrial robot with
the time during the actual condition operation test process. In addition, through the power curve
of the actual condition operation test, record the test results. Figure 3 shows an example of the
record of the actual condition operation test result.
operation of the industrial robot is calculated through Formula (2):
Where,
ET---the total energy consumption of the actual condition operation of the industrial robot,
expressed in (J);
PA---the instantaneous power of the industrial robot, expressed in (W);
ts---the start time of the actual condition operation test, expressed in (s);
te---the end time of the actual condition operation test, expressed in (s).
6.4.2 Assistant energy consumption
In the actual condition operation test, the assistant energy consumption of the actual condition
operation of the industrial robot is calculated through Formula (3):
Where,
EA---the assistant energy consumption of the industrial robot, expressed in (J);
na---the number of assistant times involved in the actual condition operation test;
tais---the start time of the ith assistant time, expressed in (s);
taie---the end time of the ith assistant time, expressed in (s).
6.4.3 Fault status energy consumption
In the actual condition operation test, fault statuses, such as: abnormal function, end effector
damage, auxiliary device failure of the industrial robot, may occur. The fault status energy
consumption of the actual condition operation of the industrial robot is calculated through
Formula (4):
Where,
EF---the fault status energy consumption of the industrial robot, expressed in (J);
during the operation of the industrial robot. Under the same nominal energy
consumption in operation, the larger the energy efficiency ratio in operation, the higher
the operation efficiency of the industrial robot.
8 Preparation of Evaluation Report
The industrial robot operation efficiency evaluation report shall include the following content:
---the user, operation task and process type;
---the manufacturer, model, manufacturing time and software version No. of the industrial
robot;
---the manufacturer, model and manufacturing time of the end effector;
---the person responsible for operation efficiency evaluation, the task trajectory and the
programming method;
---the type, model, manufacturer and precision of the power detection equipment;
---the test time, test site, ambient temperature, warm-up time and standard cycle operation
test power curve of the standard cycle operation test;
---the test start time, test end time, test site, ambient temperature, total energy consumption
under actual working conditions, assistant energy consumption, fault status energy
consumption, number of tasks completed, percent of pass and actual condition
operation test power curve of the actual condition operation test;
---the nominal energy consumption in operation, energy efficiency ratio in operation,
assistant energy consumption ratio in operation and fault status energy consumption
ratio in operation;
---suggestions for operation efficiency optimization.
Appendix A
(informative)
Methods for Operation Efficiency Optimization of Industrial Robots
A.1 Optimization of Process Scheme
Process scheme affects the nominal energy consumption in operation, which in turn, affects the
operation efficiency of the industrial robots. When the nominal energy consumption in
operation is relatively large, in accordance with the actual situation, the following optimization
methods should be adopted, or a combination and integration of the following methods should
be adopted:
a) Optimization of operation trajectory: optimize the operation trajectory of the
industrial robot; reasonably plan its motion path and operation speed. Select an
appropriate space motion curve; avoid excessively frequent acceleration and
deceleration; enhance the smoothness of the trajectory; reduce the nominal energy
consumption in operation of the industrial robot; improve the operation efficiency.
b) Optimization of matching attribute: when the industrial robot is at the rated load, it
can not only thoroughly satisfy the performance requirements, but also, the utilization
rate of the motor capacity is extremely high. Under this circumstance, the energy
utilization rate of the industrial robot is relatively high, and the application of large-
load robots in light-weight occasions shall be avoided.
c) Optimization of process parameters: process parameters affect the load of the
industrial robot, and further affect the energy consumption in operation of the
industrial robot. Through the optimization of process parameters, improve the
operation efficiency of the industrial robot.
A.2 Optimization of Working Conditions and Quality
The operating conditions and processing quality of industrial robots will affect the energy
efficiency ratio in operation, which in turn, affects the operation efficiency of the industrial
robots. When the energy efficiency ratio in operation is relatively small, in accordance with the
actual situation, the following optimization methods should be adopted, or a combination and
integration of the following methods should be adopted:
a) Optimization of assistant time: when the assistant energy consumption ratio in
operation is relatively large, shorten the assistant time of links like clamping and
detection during the operation of the industrial robot; reduce the assistant energy
consumption and realize the improvement of the energy efficiency in operation;
b) Optimization of reliability: when the fault status energy consumption ratio in
operation is relatively large, it is advisable to reduce the failure rate of the industrial
......
Source: Above contents are excerpted from the PDF -- translated/reviewed by: www.chinesestandard.net / Wayne Zheng et al.
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