GB/T 37414.3-2020 Standard Interpretation
Electrical Equipment and Systems for Industrial Robots - Part 3: Technical Conditions for AC Servo Motors
Standard Overview
GB/T 37414.3-2020 "Electrical Equipment and Systems for Industrial Robots - Part 3: Technical Conditions for AC Servo Motors" establishes unified testing methods and technical requirements for AC servo motors used in industrial robots. By standardizing the basic requirements and performance tests of motors in different industrial application scenarios, this standard aims to enhance product precision, speed, and reliability, thereby vigorously promoting the industrial robot industry towards high performance and high reliability.
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Standard Status: Current
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Release Date: 2020-04-28
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Implementation Date: 2020-11-01
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Governing Body: China Machinery Industry Federation
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Responsible Department: China Machinery Industry Federation
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Issuing Authority: State Administration for Market Regulation, Standardization Administration of China
Test Items
| No. | Test Item | Testing Capability | Remarks |
|---|---|---|---|
| 6 | Motor Performance Safety | NA | |
| 6.1 | Insulation Resistance | +PTS Series Power Supply +VectWorks Electrical Performance Test Software +Insulation Resistance Measurement Module |
Test Voltage: 205V-2500V Insulation Resistance: ≥50MΩ ~ ≥1MΩ |
| 6.2 | Withstand Voltage (Dielectric Strength) | +PTS Series Power Supply +VectWorks Electrical Performance Test Software +Withstand Voltage Measurement Module +Insulation Resistance Measurement Module |
Test Voltage: 300Vrms ~ 1500Vrms+2Un Leakage Current: ≤5mA ~ ≤15mA |
| 6.3 | Protective Bonding (Protective Grounding) | +PTS Series Power Supply +VectWorks Electrical Performance Test Software |
Grounding Resistance ≤0.1Ω |
| 6.4 | Stator Winding Resistance | +PTS Series Power Supply +VectWorks Electrical Performance Test Software +Impedance Measurement Module |
Maintain at room temperature for over 3 hours before testing |
| 6.5 | Enclosure Protection | +Reliability Test System | |
| 6.6 | Noise | +Reliability Test System | A-weighted sound power level noise ≤70dB(A) |
| 6.7 | Rotation Direction | +PTS Series Power Supply +VectWorks Electrical Performance Test Software |
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| 6.8 | No-load Current | +PTS Series Power Supply +VectWorks Electrical Performance Test Software |
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| 6.9 | Temperature Rise | +PTS Series Power Supply +VectWorks Electrical Performance Test Software +Dynamometer Module (with temperature measurement) +Impedance Measurement Module |
Measured using the resistance method |
| 6.10 | Rotor Moment of Inertia | / | |
| 6.11 | Back EMF Constant | +PTS Series Power Supply +VectWorks Electrical Performance Test Software +Dynamometer Module |
Drive the test motor to 1000r/min |
| 6.12 | Stator Inductance | +PTS Series Power Supply +VectWorks Electrical Performance Test Software +Impedance Measurement Module |
400Hz sinusoidal AC |
| 6.13 | Detent Torque | / | Motor without power |
| 6.14 | Rated Torque | +PTS Series Power Supply +VectWorks Electrical Performance Test Software +Dynamometer Module (with temperature, torque measurement) |
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| 6.15 | Rated Power | +PTS Series Power Supply +VectWorks Electrical Performance Test Software +Dynamometer Module (with temperature, torque measurement) +Power Measurement Module |
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| 6.16 | Rated Voltage | +PTS Series Power Supply +VectWorks Electrical Performance Test Software +Dynamometer Module (with temperature, torque measurement) |
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| 6.17 | Rated Speed | +PTS Series Power Supply +VectWorks Electrical Performance Test Software +Dynamometer Module (with temperature, torque measurement) |
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| 6.18 | Maximum Allowable Speed | +PTS Series Power Supply +VectWorks Electrical Performance Test Software +Dynamometer Module (with temperature, torque measurement) |
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| 6.19 | Maximum Stall Torque | +PTS Series Power Supply +VectWorks Electrical Performance Test Software +Insulation Resistance Measurement Module +Dynamometer Module |
Measure insulation resistance and back EMF constant |
| 6.20 | Continuous Stall Torque (Zero-speed Torque) | +PTS Series Power Supply +VectWorks Electrical Performance Test Software +Insulation Resistance Measurement Module +Dynamometer Module |
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| 6.21 | Continuous Stall Current | +PTS Series Power Supply +VectWorks Electrical Performance Test Software +Dynamometer Module |
Run at zero speed, measure stall current after stable temperature rise |
| 6.22 | Operating Region | +PTS Series Power Supply +VectWorks Electrical Performance Test Software +Dynamometer Module |
Conduct at zero speed, constant torque output speed range's highest speed point, and maximum speed point |
| 6.23 | Torque Ripple Rate | +PTS Series Power Supply +VectWorks Electrical Performance Test Software +Dynamometer Module |
Torque ripple rate KTb≤3%~7% |
| 6.24 | Overspeed Operation | +PTS Series Power Supply +VectWorks Electrical Performance Test Software +Dynamometer Module |
Speed increased to 120% of maximum allowable speed |
| 6.25 | High and Low Temperature Operation | +Reliability Test System | |
| 6.26 | Dry Heat and Dry Cold Resistance for Storage and Transport | +Reliability Test System | |
| 6.27 | Damp Heat, Cyclic Resistance | +Reliability Test System | |
| 6.28 | Motor Mechanical Self-vibration | +Reliability Test System | |
| 6.29 | Vibration | +Reliability Test System | |
| 6.30 | Shock | +Reliability Test System | |
| 6.31 | Salt Spray | +Reliability Test System | |
| 6.32 | Mold Growth | +Reliability Test System | |
| 6.33 | Electromagnetic Emission Interference | +EMC Test System | |
| 6.34 | Lifetime | +Reliability Test System | |
| 6.35 | Mass (Weight) | +Reliability Test System |
Test Key Points
Rated Parameters
Voltage and frequency must meet standard requirements, such as withstand voltage test. Voltage fluctuations mainly affect the motor's power output and its own safety: too high can easily break down insulation, while too low can cause "step loss" due to insufficient torque; frequency accuracy is directly related to the motor's synchronous speed, and its deviation will ultimately be amplified as trajectory error of the robot through the transmission chain.
Torque Ripple
Torque ripple is one of the core indicators, describing the stability of the output torque. It must be strictly controlled within the standard range because when the robot performs tasks such as precision assembly, even small fluctuations can cause positioning inaccuracy.
Temperature Threshold
When the temperature rise is abnormal, especially exceeding the threshold of 75K, it is by no means accidental, but a clear signal of accumulated and intensified internal faults. Normal motor operation also has losses (copper loss, iron loss), but the temperature rise is controlled within the design range. An abnormal high temperature rise means the occurrence of abnormal, huge energy losses, such as winding short circuit, bearing wear, rotor defects, etc.
Insulation Resistance
Insulation resistance should not be lower than 1MΩ. If the motor's insulation resistance is too low, when a person touches the shell (especially a metal shell), current may form a loop through the human body, causing electric shock. 1MΩ is widely considered an empirical safety threshold that can effectively limit leakage current and prevent dangerous electric shock. Below this value, the risk of electric shock increases significantly.
Test Configuration
| No. | Model | Name | Remarks |
|---|---|---|---|
1 |
PTS Series | PTS Series Power Supply System | |
| 2 | VectWorks | Electrical Performance Test Software | |
| 3 | PTS Series | Insulation Resistance Measurement Module | Optional |
| 4 | PTS Series | Withstand Voltage Measurement Module | Optional |
| 5 | PTS Series | Impedance Measurement Module | Optional |
| 6 | PTS Series | Dynamometer Module | Optional |
| 7 | PTS Series | Power Measurement Module | Optional |
Test Software
VectWorks Electrical Performance Test Software is a software developed by GreenTest Technology based on the GtestWorks automated testing platform. Its engine is based on dynamic test script execution. This basic architecture facilitates easy and direct configuration of test sequences without requiring specific knowledge of how to remotely control instruments. You only need to configure the items to be tested and the test levels, offering high flexibility.
The software provides users with standard-compliant test templates, enabling remote parameter setting, data acquisition, waveform editing, configuration import/export, report viewing, etc., achieving automation of complex tests.
Core Functions
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Closed-loop Dynamic Testing
Integrates real-time monitoring and dynamic feedback mechanisms
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High and Low Voltage Superimposed Ripple Testing
Complies with standard verification requirements (including ripple Upp, Ipp monitoring)
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Power Supply and Amplifier Architecture
Compatible with bipolar power supply and amplifier architecture solutions
