GB/Z 19397-2003 Industrial robots - Electromagnetic compatibility test methods and performance evaluation criteria - Guidelines
Some standard content:
This guiding technical document is formulated for the first time: Foreword
GB/Z19397—2003/ISO/TR1:062:F9944 is equivalent to the 15(>/TR1162:1994 Guide for performance evaluation of industrial robots during inspection and testing
In order to be more specific, this guiding technical document has been edited and modified as follows: "This technical report" is changed to "This technical document" and is referred to as this document in the text: 5 In order to be consistent with the current industrial robot system standards, the word "operating type" is removed from the name; C) In addition to the international standard [technical report]: d) According to the requirements of GB/T 1.1-20 edition, the introduction of Chapter 2, except for normative references, has been modified. Appendix A of this guiding technical document is a normative annex, and the contents and requirements of the technical document are material documents. This guide technical document was proposed by the China Machinery Industry Federation. This guide technical document was approved by the National Industrial Automation System Development Committee. This guide technical document was drafted by Beijing Machinery Automation Yao'an Company and Beijing University of Aeronautics and Astronautics.
This guide technical document is a semi-final version of the semi-final version, which was approved by Yi Zheng, Xu Li, and Hu Qiutan. It is also known as GB/Z19397-2003/RS0/TK. 11062,1994 Introduction
In the past, electromechanical equipment and systems were not very sensitive to magnetic disturbances, i.e., the transmission of electromagnetic interference (electromagnetic interference). Nowadays, electronic devices and equipment are more sensitive to these disturbances, especially to "high voltage" and "transient" phenomena. In addition, the core devices and equipment themselves are also harmful to electromagnetic sources. With the increasing production and application of differential electrical equipment, the phenomenon of equipment being damaged due to electromagnetic interference is also increasing. This conductive technology has been used to select the electromagnetic compatibility (EM) test method for the right equipment. For industrial robots with certain characteristics, i.e., electronic devices, the use of certain characteristics defined in 2004-12612 is used to verify the electrical characteristics of the robot control system. This inductive technical document is related to 11?9&3 industrial robot safety specification, because it is closely related to EMC in terms of safety control.
1 Scope
Industrial robots
GB/Z 19397—2003/1X)/TR11062:1994 Guide to electromagnetic compatibility test methods and performance evaluation criteria
This guiding technical document provides a guide for testing the performance of industrial robots under electromagnetic interference.
Existing EM standards do not specify test methods for robots. This document aims to provide a company with an appropriate test procedure and evaluation of test results for robots in normal working environments and applications. In addition, this document helps to evaluate the safety of industrial robots affected by electromagnetic interference. 2 Normative references
The clauses in the following documents become the main provisions of this guiding technology through reference to this guiding document. There is no need to pay attention to the use of this document. All subsequent receipts (excluding data) The revised versions of the above documents are not applicable to this technical document. However, the latest versions of these documents shall apply to the latest versions of the above documents. The latest versions of these documents shall apply to this technical document. (G4824-2021 Industry, Science and Technology (1SM> Measurement Methods and Limits of Radio Frequency Interference for Radio Frequency Equipment (IR: 1997)
54-33 Information Technology for Equipment and Equipment 5123:19B142-1:1998 Industrial Robot Performance Specification and Test Methods 1S028) GH/1264-1997 Industry Vocabulary (808373JU) G13/T17624.1199% Self-explanation and Summary of Basic Terms and Definitions (idtIEC6-500 11.1692
GB/T7339.1--199% electrical micro-compatibility test and pump resistance test point value (1dt1FC:1320---1:1992) 2 Definitions
In (8/T12643 and GB/T17624. Established and the following technical definitions are used in this document. 3.1
Industrial robot manipalatingindustrialrobot An automatically controlled, reusable, product-rich operating machine that can be installed in a certain place, also called mobile use
Electromagnetic environment The electromagnetic environment is the sum of all environmental conditions. 3.3
Electromagnetically damaged Any electrical environment that may cause the performance of the device, equipment or system to degrade. 3.4
Electromagnetic interference.EMretecuromagneticinterterence;EMIGB/%1939/—2003/150/TK11062:1994 Electromagnetic interference caused by equipment or system performance degradation. :
Electromagnetic compatibility: The ability of an equipment or system to work normally in an electromagnetic environment without causing any electromagnetic disturbances in the environment.
(Electromagnetic compatibility level (EMC) computiility level is the level of electromagnetic stress that is expected to act on a device, equipment or system working under certain conditions. In fact, the electromagnetic level is not an absolute level and may occur under certain conditions. 3.7
(Electromagnetic) emission (electramanelie) emission from a transmitting function to the outside, 3.8
(Immunity to interference): The ability of an equipment or system to not degrade when subjected to interference, 3.9
(Electromagnetic) susceptibility: Electromagnetic sensitivity relicisnsreptibillty installation, equipment or recording by the problem of chemical interference, causing the performance degradation of the cycle characteristics, product]: soft. Requirement of the lack of anti-interference. 4 measurement units
the plan sold in this document is consistent with B/T12643 and (B/12642 - effective. Unless otherwise specified, all the hills in the M heart groove use S unit should be changed to the effective or approximate. 1 "field demolition w. and w, meet 1cig(W,/W,> a whole level of the document is!dh(dB), if w, know W, is the block voltage when g= or = voltage to the meaning, this
the voltage of the resistance Xie: flat, machine, is also the resistance of the company under the voltage 5 test requirements
5.1 Cyclic conditions
test T The external flow conditions should be used as the reference gas: the environmental parameters should be consistent with the values said by the manufacturer, and should be included in the report. The actual environmental conditions shall be based on the standard (but the air, pressure and humidity shall be in accordance with the provisions of EC60C). The EMC test conditions are as follows: a) ambient temperature 15~3h: 10--75 (static discharge test or 30--65h); ) air pressure 26kPa~[0ektHiombar--060bar; the magnetic environment conditions will not be guaranteed. The electromagnetic emission measurement is usually carried out in an electromagnetic shielded room, which is more suitable for robots. For (radiated emission test), the electromagnetic shielding room shall be marked with standard requirements and pre-tested. There shall be no electromagnetic field reflected by the standard object in the test air. The appropriate reflective absorber shall be placed on the inner surface of the shielding room. In this room, the reflective absorber can ensure that the reflected and reflected currents from non-radiated objects are controlled. GB/Z19357-2003/JSO/TR11062:994 Conducted emission test is the current generated by the robot (power system: signal or control circuit) at the test point. This test is usually carried out in a shielded room or a wave elimination room. The shielding room is used to protect the test equipment from external electromagnetic fields. The shielding room is used to resist the generation or addition of external electromagnetic fields. If the interference inductive field is not effectively eliminated, the measurement will be erroneous and cannot be repeated. For this reason, in each emission test, EEC/C.ISPR requires a "preliminary \environmental\measurement" and the "ambient noise" should meet the required limits specified in CISPR. In addition, during the auxiliary radiation test, it is necessary to determine the position and certain operating conditions of the robot, which are related to the radiation and conducted electromagnetic emissions of the robot: Temporary radiation tests are carried out in a closed field. It does not measure the impact of the normal operation of the robot. The test field must be uniform for all excessive electromagnetic fields. For the safety of the test operator, the operator must be protected from the high frequency and high intensity electromagnetic fields generated in the test field, especially in a sparsely populated non-open field. It can be carried out, but it is subject to restrictions. In particular, a room, a modified room, only part of the two-lined screen room, is worth using a certain amount of energy receiving materials to suppress the normal travel. If you can establish a On the other hand, considering the size of the robot, it is recommended to use shielded equipment during the robot interference test to provide a better uniform field. Even if the local area is not well dispersed, the figure shows a suitable range of screens for the robot test. In addition, some screens in the robot's proximity to the robot are used to place the test room related to the robot. Type instruments and equipment. Interference immunity plan or period,
Look for the outside, make the month appropriate day residual that is, multiple strands of transmission and use appropriate test section equipment can also change the magnetic field dynamic, turntable
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5.2 Robot operating conditions
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Medicine release purchase||t t||The robot should be manufactured according to the manufacturer's instructions and properly installed (electrical installation and mechanical installation) and fully operational (start-up and performance test). Before each test, it is very important to know the robot's specified state, its possible connections with external devices, and any information that may help to better understand the robot. 3
GB/Z19397—2003/IS0/TR11062,1994 In this way, in the M version In the “primary configuration”, i.e. the most suitable configuration, the robot can be evaluated:
6 Test method
6.1 Robot characteristics without electromagnetic interference
The path repeatability or full load test shall be carried out in accordance with the requirements of B/12642 to characterize the robot characteristics without FM interference
The test shall be carried out at rated load and maximum speed: When the robot is tested according to the manufacturer’s technical requirements, the robot shall be tested according to the manufacturer’s technical requirements. During the EMC test, the robot is placed in several "running states" to measure the impact on the robot and to obtain as much information as possible about the robot's performance. In the state, the control system is turned on, the robot power light is on, the robot is in the static mode, the robot is powered on, and the robot is running in the control mode. The power is turned on, and the charging and emptying are also carried out. In the automatic mode, the machine returns to the state of automatic operation. Please note that when the E-heart test is carried out in the above-mentioned one-minute operation state without human intervention, the machine should be checked! The following performance: E-disorder robot recording inspection, according to the rate standard 5.1! h) Kaiyi human control changes, such as: serial system, monitoring terminal display unit, system 1/0 use [, etc., in the comparison standard, there is a Ge expansion source test unit, and the definition of this fault reduction evaluation criteria is given. However, these criteria can be replaced by the standards established by the robot manufacturer. The F classification is consistent with the robot test evaluation criteria given in Table 2. Table 2
Fault growth 9
Normal operation within the limit: no obstacle
new, acceptable one or loss of human function (relatively large fault
time-sensitive or self-test machine failure) A decrease or loss of function or performance, requiring operation, US:> The new breast cutting machine must be trained and the kinetic energy class must be consistent) Energy drop or permanent loss, the machine can recover (damage) according to the form of light damage. In the process of executing the M test, two tables are given in each "standard state" of the robot (see Table 1). Table 2 lists the fault conditions from the lightest to the most serious. The above two tables are combined with examples. The final test result is determined by the seriousness found in the final state. In the EMC test and FMC test, the performance of the robot is checked. The robot maintenance is an integral part of the test. This procedure is used to evaluate the end control requirements. The main faults that may occur in the robot are: The speed is too high or too low, and the path position of the programming is wrong!
The robot 1/0 status is recognized:
GB/Z19397-2033/IS0/TR11062:1984 programming is wrong (if the error meter is "flashing", it is not the actual use of the whole ticket, it is considered to be changed).
6.3 FMC test for robot
Special machine can be tested as follows:
) Electrostatic test
According to TFC8:11-2, test the static frequency ratio of the contact and air. ) Conductive field test | |tt||According to IEC619003, the magnetic field is applied in the frequency range of 30MHz-1GHz (80% amplitude, 1kEz positive wave modulation). For lower frequencies (less than or equal to kEz), the first conducted immunity test is not the full radiated test (see IEC:08016). ) Fast transient/impulse electrical immunity test
Caused by inductive load or full current magnetic point jump, only with a rough rise time (5s), a flashover time (50s), a high repetition rate of the line according to IEC63901-4: ) No leakage immunity test
The terminal voltage surge (1,/C) caused by switching phenomena or power grid faults and shocks is measured. 5100-4-...
: Harmonicity test
Test on harmonics of the mean voltage. Refer to (B/T 17626.1 (definition of harmonics) and (IEC 61930-2-1 and 1F10--
E) Dynamic disturbance test
Test on the decompression drop (100Hz/3.5s): Refer to (B/T 17626.1. This test is a supplement to the wave pass test, g) Use the Ni vibration test
Test on 1.1MH and above MH transient damping (the rise time of these two clocks is 75na), GB/T 1752%. 1, 10GkITz Ni vibration test is a supplement to the wave pass test. It is similar to the dynamic disturbance test, but the rise time is shorter. In the case of less stringent requirements, this test can be substituted for the vibration test. V! High-frequency immunity test The relevant frequency range is from 1.01MHz to -1MHz. The high-frequency immunity test refers to GB/T17626.1.) The relevant power supply power failure and short circuit immunity test refers to GB/T17626. (For the complete meaning and compatibility level, see IEC 6100-2-1400-2-1400-2-1400-2-1400-2-1400-2-1400-2-1400-2-1400-2-1400-2-1400-2-1400-2-1400-2-1400-2-1400-2-1400-2-1400-2-1400-2-1400-2-1400-2-1400-2 2. Conducted emission
frequency single.1:MI~40MTL range, measured in accordance with GT4H and H34. k) Conducted emission
frequency 0MH~1 (H range, measured in accordance with GB4824 and GB925. All of the above conducted immunity tests are applicable to robot control systems, and the fast transient immunity test can also be used for circuits and electronic circuits. The self-discharge immunity test is only applicable to functional human Outside the working space, the entire robot, including the operating machine for pulling the distribution current, must be tested during the annual electric field protection test and the compensation emission test.
In the above test, some of the test robot's FM analysis will be necessary. Based on the test experience: The following EM test is a necessary net electric discharge interference test for the robot;
GB/Z19397-2003/IS0/TR11062:1994 - Central rapid/surge immunity test: - Voltage drop and interruption immunity test: - System selection test: If the robot can pass these tests in sequence and pass the correct performance protection, the robot can withstand many common and dangerous electromagnetic disturbances and will not be subject to adverse conditions during normal work. The manufacturer should consult with the manufacturer to determine further EM test requirements. The manufacturer should select the electrical and mechanical test environment according to the conditions and design requirements of the robot. 6.4. The robot electrical and mechanical test level is selected according to the electromagnetic environment. The robot will be tested in this environment for a specified depth.
In (3/17624.1) the definition of electromagnetic environment is given (see 3.2): it specifically refers to "the total of all electromagnetic phenomena present in a given place" "total" "the collection of a given environment - not all electromagnetic phenomena. Therefore, if a certain environment is designed with electromagnetic compatibility characteristics, it cannot be said that it will be electromagnetically compatible in the entire environment.
In most cases, the characteristics of the electromagnetic environment are not 100% predictable because they are determined by location and time. This is very important. Because among all the influencing factors we consider, at least the electromagnetic field interference generated by the equipment and devices inside the environment needs to be identified. Only after this strategy is it possible to widen the electromagnetic compatibility environment of the actual robot. Therefore, it is necessary to collect data and information about the environment. If the data is insufficient, experiments must be conducted. This cost is often dangerous.
In addition, the definition of installation performance in see 3,5 has already referred to "the system's abnormal performance in the electrical environment is not large enough to cause intolerable electromagnetic interference to the environment." This means that the electrical performance is not consistent with the service, the installation or system has differences, and it also includes biological resistance. This is very important when we determine the upper MC standard. See the relevant information of the known and defined environmental characteristics as the design of the robot and the corresponding new ones, so as to reduce the strong interference in the actual environment. These resistances are already included in EMC. It can also prevent the interference caused by the robot's working pressure from affecting the user, except for the "environmental components". , the appropriate selection of the level of ionization and penetration test is also based on the harmonic decay, and there are: strong interference types affecting the equipment:
and strong energy requirements
and economic restrictions.
wind factors are state-of-the-art, such as, high sound resistance meets the requirements and is often sufficient with light economic conditions and sub-quality, 1ECe103 now defines "some magnetic environment models, is for the factory to apply the same SM standard to all equipment working in similar places, so the electric awkward point of view to provide the necessary data to identify the bad environment, 1 stop the machine to understand the typical agent of the bad environment as far as possible light two years or more bad period, through the band you ten workers! Nearby or internal low-voltage distribution network transformer power supply. Low-voltage current distribution system nominal power single-phase rated 240V, or two-phase rated = 15V. Standard frequency 59IIz or 60Hz. In the heavy industrial environment of the low non-core system is suitable for this range." According to IE61. A kind of comprehensive resistance to the following situations under industrial environment; - Industrial, scientific and medical (1M) equipment in work, such as welding. A frequency conversion generates a large inductive or capacitive
requiring strong electric proof and related magnetic fields:
In addition to the above industrial ring points, the robot can work in a harsh magnetic environment like a high-frequency substation: In this case, it is necessary to borrow or measure the extreme or evil light produced by the environment. The model of the world's electricity has almost no way to consider the \special "environment",
GB/Z19397-203/IS0/TR11062:1994 is related to the environmental payment. For EMC test levels, GB/TT.1 points out: Applicable to Xie The EMC interference values of the robot are shown in Table 3 in a typical industrial environment related to test level 3: Test level 1 is intended for certain cases. Specific level x is only intended for robots that will work in non-service environments. The test level can be reduced if the robot is confirmed to work in an optimal industrial environment. 5.5 Recommended test indicators related to robot application Table 3 gives the relationship between the above robot application and the applicable FMC test standards. In addition, some indicators for each electrical compatibility test selection are given in Table 3 according to the appropriate electrical environment type. |tt||Resignation:
Contact total current
Air total current
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Actual speed screen V:
Connector and position number
Single degree liquid sliding voltage/k
French wave-FT
Polar gear loss/k5
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Output correct n
Explanation time connection heat (20 six)
Short middle Si (100 long)
Installation,
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Aging mountain's test dynamic German style etc. test level 3 version, remember to estimate the relative time and whether to abandon the forest science, 2)
When there is a problem in the block, for example: when using a low-voltage wireless transmitter, but the product is limited to use close to the robot, it can be tested in a 3V level field (equivalent to the general test level 2). In the published B:T17626.1, it is recommended to extend the levels 3 and 4. The expansion level should be based on the machine end and the factory 3)
The meaning of the external environment should be taken in the form of inspection, such as outdoor environment improvement: indoor work should have certain protection against outdoor electrical problems, and the interference caused by the internal electrical interference should be strictly controlled. For the functions of the installed equipment, the protective equipment should be improved, etc. 2(4 V)
) The test current is 16 V for each phase of the machine. The electrical and electronic parts of the machine should be kept constant for a period of time before the interruption of the micro-current. The maximum working voltage of the machine should be less than 16 V. Table 1 contains the necessary conditions for evaluating the performance of the robot axis; some practical robot applications, table 1 lists the specific selection criteria for the machine end test. It refers to two types of robot applications, namely: If a "position-to-position" control is required in robot applications, at least a position repeatability test is required (see G3/T 12642-2001, 7.2.2):
If a continuous path control is usually required in robot applications, at least a repeatability test is required (see CB/T $642-2091.8, 3)
The advantages of this method are that it reduces the number of robot manufacturing tests, which is necessary to determine the various special performances in the robot. In addition, this method allows us to select a better robot performance environment for evaluating the EMC test effect. Table 3 The recommended EMC test levels are almost all equal to level 3, unless otherwise specified. The sub-peak voltage given in the table is a guide for selecting EM core tests related to major robot applications: and some test level indicators are attached. Table 3 is about the conducted radio frequency emission test for applicable robot exposure. When selecting the test sensitivity, the self-magnetic process generated by the machine should be considered whether the organisms in the vicinity of the machine are protected. The selected emission level is consistent with the (H4824 index. The robot applications listed in Table 4 are classified according to the relevant standards, namely, radio frequency magnetic field, non-electrically excited induction, spot welding, etc. It should be noted that some of the values given in Table 4 are under discussion. For example, for two types of extended welding applications, TIG and MI+, further analysis is required. Further experimental verification will update Tables 3 and 1. Table 4
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1) Other than those used for traction, loading, unloading, film matching, inspection, processing, trimming, production, with the help of high-end people, these machines are included in the 151A ancestors, except for one industry-confirmed special library bottom use, which is included in the 15M2 Group A effect, red G3182:Appendix A of ISO 2001 lists the details.
(ISO/7.19397-2003/IS0/TR1062.1394) The difficulty of performing electromagnetic compatibility (EMC) tests on robots is discussed in this appendix. In addition, the tests of the control system should be fully considered, such as static discharge, rapid state, electrical drop and interruption, and self-surge. 4.1 Test on immunity to electrostatic discharge
Static discharge (ESD) can affect the operation of the robot or damage the electronic circuits through direct or indirect effects of virtual connection or insertion. ||tt ||ES should only be performed on some points on the robot surface, these are usually close to the operator, or outside the workspace.
In addition, the test can also be carried out with the control system connector, in series and above, as if they are close to the product outside the control line.
Direct test is a single-pole discharge between the selected test point and the ground. For the first test, there shall be at least 1 effective discharge (and 20 discharges), with at least 150m3 time interval between successive effective discharges. The discharge rate point can be selected by detecting 20 discharges. In order to simulate the effective discharge time of the robot, a 50cm×50cm area on the ground or around the robot can be used.
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