The US Performance standard consists of two volumes. R15.05-1 covers the point to point and static performance characteristic. And R15.05-2 covers the path related and dynamics performance characteristics.
Thus, if two different robots from two different vendors are being considered for an application, and one has a payload capacity of 45 kg and the other 50 kg, they will be tested under a standard load of 40 kg. The center of gravity of the 40 kg load with its associated support brackets shall have an axial CG offset of 12 cm and a radial CG offset of 6 cm from the mechanical interface coordinate system.
The standard test path is located on the standard test plane and lies along a reference center line. The standard test path segments can only assume three length 200 mm, 500 mm, or 1000 mm. Detailed instructions to determine the position and orientation of standard test plane and the reference center line are given in the standard.
The performance characteristics used by R15.05-1 are accuracy, repeatability, cycle time, overshoot, settling time, and compliance. This standard allows the vendor to tune operating parameters to optimize the values of desired performance characteristics. To identify the type of characteristic that is being optimized during a particular test, the standard establishes four performance classes. If class II testing is performed, the robot operates under optimum cycle time conditions. If class III testing is performed, the robot operates under optimum repeatability conditions.
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