1、 ANSI/RIA R15.053-1992 for Industrial Robots and Robot Systems Reliability Acceptance Testing - Guidelines s- American National Standards Institute 77 West 42nd Street New York, New York 10036 ANSMIIA R15.05-3-1992 American National Standard for Industrial Robots and Robot Systems - Reliability Acce
2、ptance Testing - Guidelines Secretariat Robotic lndustrles Association Approved October 12, 1992 American National Standards Institute, Inc. American Approval of an American National Standard requires verification by ANSi that the requirements for due process, consensus, and other criteria for Natio
3、nal PP a roval have been met by the standards developer. Standard c onsensus is established when, in the judgment of the ANSI Board of Standards Review, substantial agreement has been reached by directly and materially affected interests. Substantial agreement means much more than a simple majority,
4、 but not necessarily unanimity. Consensus requires that all views and objections be considered, and that a concerted effort be made toward their resolution. The use of American National Standards is completely voluntary; their existence does not in any respect preclude anyone, whether he has approve
5、d the standards or not, from manufacturing, marketing, purchasing, or using products, processes, or procedures not conforming to the standards. The American National Standards Institute does not develop standards and will in no circumstances give an interpretation of any American National Standard.
6、Moreover, no person shall have the right or authority to issue an interpretation of an American National Standard in the name of the American National Standards Institute. Requests for interpretations should be ad- dressed to the secretariat or sponsor whose name appears on the title page of this st
7、andard. CAUTION NOTICE: This American National Standard may be revised or withdrawn at any time. The procedures of the American National Standards Institute require that action be taken periodically to reaffirm, revise, or withdraw this standard. Purchasers of American National Standards may receive
8、 current information on all standards by calling or writing the American National Standards Institute. Published by American National Standards Institute 11 West 42nd Street, New York, New York 10036 Copyright 01993 by American National Standards Institute All rights reserved. No part of this public
9、ation may be reproduced in any form, in an electronic retrieval system or otherwise, without prior written permission of the publisher. Printed in the United States of America APS2.5C593120 Contents Page Foreword ii 1 Scope, purpose and exclusions . .1 2 Normative references . 1 3 Definitions .l 4 I
10、nfant Mortality Life Test (IMLT) 2 5 Functional Verification (FV) . 4 6 Twenty-four (24) hour Individual Axis Movement Test (IAMT). . .4 7 Forty-eight (48) hour Composite Axes Movement Test (CAMT) . 8 Optional Infant Mortality Life Test (OIMLT) Methods 1 and 2 . .5 9 IMLT log . .5 Figures 1 Theoreti
11、cal failure rate-life curve 2 2 Infant mortality life test (IMLT) flow chart .3 3 Individual axes move 8 4 Composite axes move 8 , ., Foreword (This foreword is not part of American National Standard ANSVRIA R15.053-1992.) This standard provides the minimum test requirements necessary to deter- mine
12、 the suitability of a newly manufactured (or newly rebuilt) industrial robot to be placed in service without the need to perform additional reliability verification testing. This standard is an Infant Mortality Life Test method followed by a perfor- mance verification. It is intended that this stand
13、ard replace a multiplicity of robot users test and/or specification requirements that are to be performed (or met) prior to placing a robot into service. This standard also provides for the use of an optional test method to accommodate those robots which have unique configurations or unusual perform
14、ance capabilities. The optional test method also accommodates those robot manufacturers and rebuilders whose manufacturing techniques employ state-of-the-art quality assurance methods that are equivalent to or exceed the intent of this standard. This standard is not a safety standard and therefore d
15、oes not directly address the safety issues related to robot performance and operation. It is the responsibility of whomever uses this standard to consult and utilize appropriate safety standards and health practices. Use of industry standards, including this standard, is voluntary. The Robotic Indus
16、tries Association makes no determination with respect to whether any robot, manufacturer, or user is in compliance with this stan- dard. Suggestions for improvement of this standard are welcome and should be sent to Subcommittee R15.05WGl on Reliability, Robotic Industries Association, 900 Victors W
17、ay/P.O. Box 3724, Ann Arbor, Michigan 48106. The Subcommittee R15.05WGI on Reliability, which developed this stan- dard, had the following members: James Wells, Chair Mark Saberton, Vice Chair Hadi Akeel Romeo Bruce Michael P. Graves Cesar llagan Jack D. Kindree Stefan Larsson Bob Roy Administrative
18、 services were provided by James M. Prange, James A. Peyton and Sharon Myers of the Robotic Industries Association. AMERICAN NATIONAL STANDARD ANSIIRIA R15.053-1992 American National Standard for Industrial Robots and Robot Systems - Reliability Acceptance Testing - Guidelines 1 Scope, purpose and e
19、xclusions 1.1 Scope This standard is intended to provide the mini- mum testing requirements that will qualify a newly manufactured or a newly rebuilt indus- trial robot to be placed into use without addi- tional infant mortality testing. 1.2 Purpose The purpose of this standard is to provide assuran
20、ce, through testing, that infant mortali- ty failures in industrial robots have been detected and corrected by the manufacturer (or rebuilder) at their facility, prior to shipment to a user (See figure 1, “Theoretical failure- rate life curve “) These tests may be repro- duced by the user if desired
21、 1.3 Exclusions This standard applies to robots and robot sys- tems only and is not intended to apply to the following. - Automatic guided vehicles and systems, - Automatic conveyors and shuttle systems; - Mobile robots; - Tele-operators; - Prosthetic and other aids for the handi- capped, - Automate
22、d storage and retrieval systems, - Numerically controlled machine tools; - Personal robots; - Undersea and space robots. This list is not intended to be all-inclusive. 2 Normative references The following standard contains provisions which, through reference in this text, constitute provisions of th
23、is American National standard. All standards are subject to revision, and par- ties to agreements based on this standard are encouraged to investigate the possibility of applying the most recent editions of the stan- dard indicated below. IS0 TR 8373, Manipulating industrial Robots - Vocabulary) 3 D
24、efinitions 3.1 components: critical: Any component that is safety-relat- ed or one that, if it fails, will cause the robot to stop while in its continuous run mode or that is necessary for proper robot operation and con- trol non-critical: Any component that is not a part of the robots safety system
25、 or one that is not critical to the robots operation. l a7 3.2 cycle: A single execution of a complete set of moves and functions contained within a robots program. 3.3 industrial robot: A reprogrammable, multifunctional manipulator designed to move material, parts, tools or specialized devices thro
26、ugh variable programmed motions for the performance of a variety of tasks. l) Available from American National Standards Institute, 11 West 42nd Street, New York, NY 10036. 1 ANSI/RIA R15.05-3-1992 Useful life I I I Wearout Age or life (hours cycle km) Figure 1 - Theoretical failure rate-life curve
27、3.4 infant mortality: The initial operating period during which a robot or a robot popula- tion exhibits a high failure rate which decreas- es rapidly until it stabilizes at time t, as failed components are replaced (see figure 1). NOTE-As used in this standard, the word “robot” 4.1.2 A 24-hour Indi
28、vidual Axis Movement is intended to mean “industrial robot.” Test (IAMT). 4.1.3 A 48-hour Composite Axes Movement Test (CAMT). 4.1.4 A Functional Verification (FV). 4.2 Test conditions 4 Infant Mortality Life Test (IMLT) The intent of this standard is to increase the confidence of robot manufacturer
29、s, rebuilders, and especially of robot users, that completely assembled industrial robots that have passed this test, or that meet the requirements of the optional IMLT (see clause 8), are suitable for installation and use. 4.1 IMLT requirements These requirements are specified in subclaus- es 4.1 .
30、l through clause 7 and in clause 9. The four (4) segments of this IMLT are shown in the IMLT flow chart (see figure 2). 4.1.1 An initial Functional Verification check (FV) is recommended but is not required. If performed, that fact shall be recorded in the IMLT log together with all pertinent data (
31、see clause 9). IMLT tests shall be conducted at the ambient temperature range existing at the testing facil- ity. The ambient temperature range shall be recorded in the IMLT log. 4.3 Test hours The total test hours involved in completing this IMLT may exceed 72 hours for any of the following reasons
32、: , . . 4.3.1 The mandatory Functional Verification (segment 4) may be additive to the 48-hour CAMT if failures are detected (segment 3). 4.3.2 The actual FV hours added to the CAMT, however, will depend on the number of failures experienced and will vary between manufacturers and from robot model t
33、o robot model and will be unknown until the IMLT test is completed 4.3.3 Test restarts, if any, required because of failed critical components. 2 ANSI/RIA R15.05-3-1992 CAMT - Composite Axes Movement Test I Repair/replace; log;continue Segment 2 24 hrs. minimum Component failure: critical or non-cri
34、tical Component failure: non-critical Segment 3 48 hrs. minimum Repair/replace; YES I log;restart Component failure: critical ._-_-_-.-. NO, FVM Repair/replace: (minimum 12 hrs.) Component failure: non-critical 72 hrs. Minimum IMLT Figure 2 - Infant Mortality Life Test (IMLT) flow chart ANSI/RIA R15
35、.05-3-1992 4.3.4 The requirement that any repaired or replaced component must accumulate a mini- mum of 12 hours test time before completion of the IMLT. 4.4 Application This standard shall apply to each newly manu- factured or newly rebuilt robot. If any of the requirements of this standard exceed
36、the design limits of a particular robot, then an optional IMLT method shall be used (see clause 8). 5 Functional Verification (FV) Functional Verification is a set of checks per- formed by the robot manufacturer (or rebuilder) to determine that key subsystems are within operational parameters. These
37、 are intended to be operational checks, not a comprehensive evaluation of design performance It shall include, but is not limited to, a verification of the following: - Backlash; - Calibration (zeroing, homing, mastering); - Noise (e.g., loose components, dragging cables, covers); - Peripheral funct
38、ions (e g , control pen- dant, I/O functions, operator displays); - Safety subsystems (e g , emergency stop function, brakes), - Smoothness of operation, - Visual (inspection), - Power supply and voltage levels All items tested or checked shall be entered into the IMLT log (see clause 9) together wi
39、th the test or check results 5.1 Functional Verification - Optional (FVO) This is segment 1 of the IMLT (see figure 2). It is recommended that this segment be per- formed; however, such performance is option- al. This FVO is intended to be a set of pre- IMLT checks to assure that the robot meets or
40、exceeds both the manufacturers (or rebuilders) stated specifications as well as their internal quality assurance requirements. 5.2 Functional Verification - Mandatory WW This is segment 4 of the IMLT In this segment the functional verification is mandatory. The requirements of this clause are identi
41、cal to those of 5.1. The completion of this FVM will increase a robot users confidence that the robot may be placed into service without the need for addi- tional testing. 6 Twenty-four (24) hour Individual Axis Movement Test (IAMT) This is test segment 2 of the IMLT and is intended as a “break-in”
42、of the robot prior to running the following test segments. This test is conducted over 24 consecutive hours. The test method is described in 6.1. Failed compo- nents and conditions for restart are found in 6.2. It is recommended, but not mandatory, that the Functional Verification, segment 1, be per
43、formed prior to the running of this test seg- ment. 6.1 Test method The test shall be conducted at 75% of the rated payload as specified by the manufactur- er. Each axis of the robot shall be stressed to a minimum of 75% of its maximum rated velocity, acceleration and travel. Each axis, individually
44、, shall move continuously between end points (shown as A and B in figure 3) which satisfy the 75% travel limit requirement, for a duration of 30 minutes. Each axis shall then in turn be cycled until the 24-hour period has expired (see figure 3). If desired, 5-, 4- and 3-axis robots may com- plete th
45、is test segment under a no-load condi- -7 tion after having accumulated 20, 16, and 12 test hours respectively. Test results shall be entered into the IMLT log. 6.2 Failed components If either a critical or a non-critical component fails during this test segment it shall be repaired or replaced, dat
46、a pertinent to the fail- ure shall be entered into the IMLT log, and the test shall be resumed from that point. ANSVRIA R15.05-3-1992 7 Forty-eight (48) hour Composite Axes Movement Test (CAMT) This is segment 3 of the IMLT. This segment is intended as a thorough “shake-down” of the robot for the pu
47、rpose of forcing failures of defective critical and non-critical components prior to the robot being placed into service. This test is conducted over 48 consecutive hours. The test method is described in 7.1. Failed components and conditions for restart are found in 7.2. 7.1 Test method The test sha
48、ll be conducted at 75% of the rated payload as specified by the manufactur- er. Each axis of the robot shall be stressed to a minimum of 75% of its maximum rated velocity, acceleration and travel during the movement cycle. All axes shall then simultaneously and contin- uously perform movement cycles
49、 between point A and a minimum of three other points (B, B, B, etc.) within the work envelope. The completion of one set of such movements constitutes one cycle. This cycling shall con- tinue for the 48 hours duration of this test seg- ment (see figure 4). The location of point A and all “B” points shall be identified in the IMLT log. 7.2 Failed components 7.2.1 Non-critical component failures If any non-critical component fails during this test segment it shall be repaired or replaced. Data pertinent to the failure sha
