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Analysis of the Necessity of Robot Electromagnetic Compatibility Testing
Key Technology for Ensuring Equipment Reliability and Market Access
Introduction
Basic Concepts of Electromagnetic Compatibility (EMC)
Electromagnetic Compatibility (EMC) refers to the ability of electronic equipment or systems to function properly in their electromagnetic environment without causing unacceptable electromagnetic disturbances to anything in that environment. Its core encompasses two interrelated technical dimensions: Electromagnetic Interference (EMI) and Electromagnetic Susceptibility (EMS). EMI refers to the electromagnetic disturbances released by equipment during operation into the surrounding environment, while EMS refers to the equipment's ability to resist external electromagnetic disturbances.
From a technical requirement perspective, EMC must simultaneously satisfy two constraints: first, the equipment's own electromagnetic emissions must not exceed specified limits; second, the equipment must possess sufficient immunity to maintain normal operation.
Key EMC Concepts
EMI - Electromagnetic Interference: Electromagnetic disturbances generated by equipment
EMS - Electromagnetic Susceptibility: Equipment's ability to resist external electromagnetic interference
graph LR
A[Electromagnetic Compatibility EMC] --> B[Electromagnetic Interference EMI]
A --> C[Electromagnetic Susceptibility EMS]
B --> D[Conducted Emission]
B --> E[Radiated Emission]
C --> F[Electrostatic Discharge Immunity]
C --> G[Radio Frequency Immunity]
Report Scope and Purpose
The scope of this report focuses on robot electromagnetic compatibility (EMC) testing. The test objects cover the complete robot system, including core components such as the controller, body, and sensors. Specifically covered robot types include industrial robots (such as industrial robotic arms, automated production line equipment), service robots (such as domestic service robots, public service equipment), medical robots (such as surgical robots, rehabilitation training equipment), and SCARA robots (used in scenarios like precision assembly, electronic component processing).
The research purpose is to clarify the necessity of robot EMC testing through systematic analysis, interpret relevant domestic and international testing standards (such as the CISPR 2021 guidelines), outline core test items and supporting equipment and system configurations, and ultimately construct a complete technical framework for robot EMC testing.
Analysis of the Necessity of Robot Electromagnetic Compatibility Testing
Technical Necessity: Ensuring Equipment Reliability
Core components of robots (such as servo drive systems, vision sensors, communication modules, etc.) are highly sensitive to electromagnetic interference. Their electromagnetic compatibility (EMC) performance directly determines the reliability and stability of equipment operation.
If the servo drive system is subjected to electromagnetic interference, it may cause delays or distortion in control command transmission, leading to robotic arm movement deviations.
For example, in automotive manufacturing automated production lines, when the robot arm controller is subjected to electromagnetic interference, motion accuracy decreases, affecting the quality of automotive component installation, and even leading to assembly errors.
Electrostatic Discharge Interference
Radio Frequency Interference
Conducted Interference
Regulatory Necessity: Meeting Market Access Requirements
Electromagnetic Compatibility (EMC) testing has become a mandatory legal requirement for robot products to enter the global market. Major economies have clearly defined it as a core part of product certification through legislation.
EU Market
The EMC Directive 2014/30/EU and the Machinery Directive 2006/42/EC form a dual compliance framework. Products must pass testing and affix the CE mark for circulation.
US Market
Under the Federal Communications Commission (FCC) framework, robot products require certification from a Nationally Recognized Testing Laboratory (NRTL).
Chinese Market
GB 4824-2025 will be implemented in March 2026, replacing GB 4824-2019 and equivalently adopting the international standard CISPR 11:2024.
Safety Necessity: Protecting Personal and Environmental Safety
From the perspective of the "human-robot-environment" system, Electromagnetic Compatibility (EMC) testing is a key technical means to ensure personal safety, avoid property damage, and maintain environmental stability.
If rehabilitation robots have EMC issues, it may lead to accidental power output interruptions, abnormal speed control, and other misoperations, potentially causing physical harm to users.
The electromagnetic radiation they generate may also interfere with surrounding medical equipment, such as ECG monitors, pacemakers, and other precision instruments, indirectly endangering patient safety.
EMC performance defects in industrial robots may lead to equipment malfunction or unintended movement, causing property damage such as damage to precision manufacturing equipment.
Electromagnetic interference can affect the robot control system through conduction, induction, and radiation, causing abnormal safety function loops.
Domestic and International Robot EMC Testing Standard Systems
Domestic Standards
Industrial Robot Standards
The domestic industrial robot electromagnetic compatibility (EMC) standard system is based on the International Electrotechnical Commission (IEC) framework, with technical enhancements considering the particularities of the industrial environment, forming a complete specification system covering design, testing, emission, and immunity.
graph TD
A[Domestic Industrial Robot EMC Standards] --> B[GB 4824-2025]
A --> C[GB/T 39004-2020]
A --> D[GB/T 37414.1-2019]
A --> E[GB/T 38326-2019]
A --> F[GB/T 38336-2019]
B --> G[RF Disturbance Characteristics Limits and Measurement Methods]
C --> H[EMC Design Specifications]
D --> I[Electrical Equipment and Systems]
E --> J[Immunity Tests]
F --> K[Emission Test Methods and Limits]
Service and Medical Robot Standards
Due to differences in application scenarios, service robots and medical robots have significant differences in their electromagnetic compatibility and related standard systems.
| Comparison Dimension | Service Robot | Medical Robot |
|---|---|---|
| Core Standards | GB/T 37283-2019 (Immunity) GB/T 37284-2019 (Emission Limits) GB/T 40013-2021 (Electrical Safety) |
YY 9706.278-2023 (Rehabilitation Robots) GBZ 41046-2021 (Upper Limb Rehabilitation) T/SMA 0022-2021 (EMC Requirements for Rehabilitation Robots) |
| Immunity Level | Class B: Basic functions not seriously affected | Three-level performance criteria system (A/B/C): - Class A Medical - Class B Home Use |
| Performance Criteria | Allows for some electromagnetic interference impact but must maintain basic function implementation |
Must meet specialized EMC specifications for medical devices Clinical environment requirements are more stringent |
| Applicable Scenarios | Home and public scenarios (e.g., sweeping robots must comply with GB 4343.1:2009) |
Clinical environment (Surgical/Rehabilitation/Remote Medical Robots) |
International Standards
General Basic Standards
The international electromagnetic compatibility standard system follows the framework logic of "Generic Standards → Product Family Standards". Generic standards specify the basic EMC requirements for various types of equipment in specific environments, while product family standards propose supplementary or enhanced requirements for specific industries or product characteristics.
Core International Standards
- IEC 61000-6-2: Industrial Environment Immunity
- IEC 61000-6-4: Industrial Environment Emission
- CISPR 11: Industrial, Scientific and Medical Equipment Radio Frequency Disturbances
- IEC 61000-4-x: Immunity and Emission Test Methods
Specialized Standards for Segmented Fields
The international standard system implements differentiated classification for electromagnetic compatibility testing of different types of robots to adapt to the electromagnetic environment characteristics and risk levels of their application scenarios.
Industrial Robots
Applicable to CISPR 11 standard, classified as "Group 1 equipment" under "Industrial, Scientific and Medical (ISM) equipment", subject to stricter disturbance limits.
Service Robots
Categorized as "Household appliances" under CISPR 14-1 standard, while also needing to meet the basic requirements of the ISO 10218-1/-2 series regarding safety and integration.
Medical Robots
Must comply with the specific requirements of IEC 60601-1-2 (Medical Equipment EMC), and RACA medical robots also need to meet the specific safety and performance standards of IEC 80601-2-78.
Core Robot EMC Test Items
Electromagnetic Disturbance (EMI) Testing
Radiated Emission Testing
Key influencing factors for radiated emission testing include cable layout and motion state. Cable layout significantly impacts radiated emission levels. For example, during high-speed operation of palletizing robots, electromagnetic noise generated by the servo drive system may exceed limits due to improper cable layout.
There are significant differences in test setup between stationary and mobile robots. According to GB/T 37284-2019, stationary service robots need to be tested in working mode, while mobile robots need to be tested in working mode, charging mode, and recharge-seeking mode.
Stationary Testing
Mobile Testing
Conducted Emission Testing
Conducted interference mainly propagates through two paths: power line common-mode noise and signal line crosstalk. Power line common-mode noise manifests as interference signals propagating along power lines in common mode, while signal line crosstalk occurs due to electromagnetic coupling between adjacent signal lines, causing interference signals to couple from one conductor to another.
| Equipment Category | Conducted Emission Limit (dB(μV)) | Frequency Band |
|---|---|---|
| Class A | 79 | 0.15-0.5MHz |
| Class A | 73 | 0.5-30MHz |
| Class B | 66~56 | 0.15-0.5MHz |
| Class B | 56 | 0.5-5MHz |
| Class B | 60 | 5-30MHz |
Electromagnetic Immunity (EMS) Testing
Electrostatic Discharge (ESD) Immunity
Electrostatic Discharge (ESD) poses a significant threat to the safe operation of robots, mainly manifested as key component failure and functional interruption. For example, in dry environments such as packaging lines, friction with PE film can easily generate 15kV static electricity. When such static electricity acts on robots through contact or air discharge, it may cause failure of precision components such as vision sensors.
Industrial Robot ESD Test Requirements
According to GB/T 17626.2 standard, the test level is mostly ±6kV contact discharge and ±8kV air discharge. The laboratory environment needs to control relative humidity between 30%~60%.
Medical Robot ESD Test Requirements
Class A equipment for rehabilitation training robots needs to meet ±4kV contact discharge and ±8kV air discharge requirements. Some high-risk medical robots require air discharge levels to be increased to ±15kV.
pie
title ESD Test Level Distribution
"Contact Discharge ±6kV" : 45
"Air Discharge ±8kV" : 35
"Medical Equipment ±15kV" : 20
Radio Frequency Electromagnetic Field Immunity
In smart factory environments, multiple industrial robots, AGVs (Automated Guided Vehicles), and various wireless communication devices (such as 5G base stations, Wi-Fi modules, Bluetooth devices, etc.) coexist, forming a complex electromagnetic environment.
The core goal of radiated immunity testing is to evaluate the robot's ability to maintain stable operation under the influence of radio frequency electromagnetic fields, which directly affects the stability of wireless communication and sensor systems.
Wi-Fi Stability
5G Interference Immunity
Sensor Accuracy
Other Key Immunity Tests
The synergistic effect of multiple sources of electromagnetic interference on robot control systems may cause complex faults. For example, Electrical Fast Transient/Burst (EFT/Burst) may cause I/O interface false triggering through signal port coupling, while surge impacts may damage power modules. The combination of both will significantly reduce system reliability.
| Test Type | Standard Reference | Test Parameters |
|---|---|---|
| Electrical Fast Transient/Burst (EFT/Burst) | GB/T 17626.4 | Power ports 2kV/5kHz, Signal ports 1kV/5kHz |
| Surge | GB/T 17626.5 | Power ports line-to-ground coupling 2kV, Signal ports line-to-ground coupling 1kV |
| Conducted Disturbances, Induced by RF Fields | GB/T 17626.6 | 0.15MHz~80MHz, 10V (80%AM, 1kHz) |
| Voltage Dips/Short Interruptions | GB/T 17626.11 | AC input power port voltage drops to 70% (500ms) or 40% (200ms) of rated value |
Robot EMC Testing Equipment and System Configuration
Core Disturbance Testing Equipment
Radiated Emission Testing Equipment
The configuration of radiated emission testing equipment must strictly comply with electromagnetic compatibility testing standard requirements, focusing on test distance, frequency band coverage, and precision control. Regarding test distance, mainstream configurations use 10-meter or 3-meter standard test distances, corresponding to the construction specifications of anechoic chambers, to meet radiated emission testing needs in different scenarios.
Certified Testing Equipment
- Semi-Anechoic Chamber
- Certified EMI Test Receiver
- Broadband Antenna
Conducted Emission Testing Equipment
Conducted emission testing equipment is a core component of robot electromagnetic compatibility testing. Its core function is to accurately capture and quantify the electromagnetic disturbances conducted by the equipment to the power grid through the power ports. Among these, the Line Impedance Stabilization Network (LISN) is the key equipment in this testing system.
| Equipment Type | Main Function | Frequency Range | Key Characteristics |
|---|---|---|---|
| Line Impedance Stabilization Network (LISN) | Isolate the power grid from the Equipment Under Test (EUT), provide a stable 50Ω impedance environment | 0.15~30 MHz | Separate common mode/differential mode interference signals |
| Coupling/Decoupling Network (CDN) | Access network ports for conducted disturbance measurement | 0.15~30 MHz | Supports power/signal port measurement |
| Current Probe | Current method measurement for specific scenarios | 0.15~30 MHz | Supplements the shortcomings of the voltage method |
Core Immunity Testing Equipment
Electrostatic Discharge and Burst Equipment
Electrostatic discharge and burst equipment are core equipment for robot electromagnetic compatibility immunity testing. Their key technical indicators directly determine the accuracy and compliance of the tests.
| Parameter Type | Basic Requirements | General Equipment Capability |
|---|---|---|
| Contact Discharge Voltage | ±6kV | ±30kV |
| Air Discharge Voltage | ±8kV | ±30kV |
| Discharge Voltage Accuracy | ±5% | ±5% |
| Pulse Rise Time | 1.2/50μs | 1.2/50μs |
Radiated Immunity and Other Immunity Testing Equipment
The integration of radiated immunity testing systems requires core components such as signal sources, power amplifiers, antennas, power probes, and field strength probes.
Radiated Immunity Equipment: Greentest ES 5601 Radiated Immunity System
- Signal Source
- Power Amplifier
- Antenna
- Power Meter
- Field Strength Probe
Other Immunity Testing Equipment
- Combination Wave Generator
- Surge Generator
- Electrical Fast Transient/Burst Generator
- Voltage Dips and Short Interruptions Generator
Dedicated Testing Systems and Environment
System-level EMC testing has significant complexity, mainly reflected in multi-equipment collaborative control and dynamic working condition simulation. To ensure test results are close to real application scenarios, it is necessary to simulate loads and motion conditions (such as robotic arm trajectory operation) through a robot dynamic testing platform, while achieving precise synchronization of multiple devices in the test environment.
Dynamic Testing Platform
The system is equipped with a high-precision motion control system (1μm step size), which can work in coordination with the turntable in the anechoic chamber to ensure synchronization between robot motion and electromagnetic interference measurement.
Environmental Control
The test environment needs strict control of temperature and humidity range, typically requiring temperature maintained between 15°C~35°C and relative humidity between 10%~75%.
graph LR
A[EMC Testing System] --> B[Dynamic Testing Platform]
A --> C[Environmental Control System]
A --> D[Multi-Device Synchronization]
B --> E[Robotic Arm Motion Simulation]
B --> F[Load Simulation]
C --> G[Temperature Control]
C --> H[Humidity Control]
D --> I[Test Equipment Synchronization]
D --> J[Data Acquisition Synchronization]
Conclusion and Outlook
Main Conclusions
EMC testing holds irreplaceable value for the robot industry, with its core reflected in three aspects: First, through tests such as radiated emission, conducted emission, electrostatic discharge, and radio frequency immunity, it effectively verifies equipment performance in complex electromagnetic environments, fundamentally improving product reliability; Second, as a necessary means to meet regulatory access and personal safety requirements, it can reduce the risk of product recalls due to electromagnetic compatibility issues; Third, it supports international market access. The gradually improving standard systems domestically and internationally (such as domestic GB 4824-2025 covering robot testing, YY9706.278-2023 regulating medical robots, and international standards covering segmented fields like agricultural machinery) provide compliance basis for products entering the global market.
Technical Necessity
A key technical means to ensure stable operation of core components, avoid unintended behavior, and maintain motion accuracy and task continuity.
Regulatory Necessity
EU EMC Directive 2014/30/EU, US FCC framework, China GB 4824-2025, etc., all treat EMC testing as a rigid threshold for market access.
Safety Necessity
From the "human-robot-environment" system level, it blocks safety chain failures caused by electromagnetic interference, protecting personal safety, reducing property damage, and maintaining environmental stability.
Design Recommendations
Systematically integrate EMC design into the early stages of product development, combined with modular testing system verification, to avoid late-stage rectification costs from the source.
Future Trends and Recommendations
Looking ahead, the field of robot electromagnetic compatibility (EMC) testing will show multi-dimensional development trends. At the testing standard level, with the technological iteration of segmented fields such as collaborative robots, medical robots, and rehabilitation robots, relevant EMC testing standards need further refinement to adapt to the electromagnetic environment requirements of their specific application scenarios.
Collaborative Robots
Strengthen EMC considerations in risk assessment and program change management, refine testing requirements for human-robot collaboration scenarios.
Medical Robots
Precisely define electromagnetic radiation and immunity limits for high-frequency bands (above 1GHz) to ensure clinical environment safety.
5G/IoT
Focus on device interoperability and network security, adapt to testing requirements in complex electromagnetic environments.
Enterprise Implementation Recommendations
pie
title Enterprise EMC Capability Building Focus
"Technical R&D" : 45
"Standard Participation" : 30
"Supply Chain Management" : 25
Appendix
Domestic and International Robot EMC Standards List
Domestic Standards
| Standard Number | Release Date | Scope of Application |
|---|---|---|
| GB 4824-2025 | 2025-02-28 | Industrial, scientific and medical equipment (including ISM robots) radio frequency disturbance characteristics limits and measurement methods |
| GB/T 39004-2020 | 2020-09-29 | Industrial robot electromagnetic compatibility design specifications, applicable to industrial robot EMC design and testing |
| YY 9706.278-2023 | 2023 | Basic safety and essential performance of medical robots for rehabilitation, assessment, compensation or alleviation |
| GB/T 37284-2019 | 2019 | Service robots (personal/household, public service) emission limits and test methods for 0Hz~400GHz frequency band |
| GB/T 38326-2019 | 2019 | Industrial, scientific and medical robot electromagnetic compatibility immunity tests |
International Standards
| Standard Number | Release Date | Scope of Application |
|---|---|---|
| CISPR 11 | 2024 | Industrial, scientific and medical equipment (including ISM robots) radio frequency disturbance characteristics limits and measurement methods |
| ISO/TS 15066:2016 | 2016 | Technical specification for safety implementation of collaborative robots, applicable to industrial robot systems described in ISO 10218-1 and ISO 10218-2 |
| IEC 61000-6-2 | 2019 | Generic standard for immunity in industrial environments |
| IEC 61000-6-4 | 2018 | Generic standard for emission of equipment in industrial environments, reference for radiated emission test limits |
| IEC 60601-1-2 | 2014 | EMC requirements for medical electrical equipment |
| ISO 13766-1:2018 | 2018 | EMC requirements for earth-moving machinery and construction machinery (internally powered) under typical electromagnetic environments |
Robot EMC Test Items and Equipment Correspondence Table
| Test Item | Main Equipment | Standard Reference |
|---|---|---|
| Radiated Emission Test | Anechoic Chamber, EMI Test Receiver, Preamplifier, Antenna | GB 4824-2025 |
| Conducted Emission Test | Line Impedance Stabilization Network (LISN), EMI Test Receiver | GB/T 6113.201, GB 4824-2025 |
| Electrostatic Discharge (ESD) Immunity | Electrostatic Discharge Simulator | GB/T 17626.2, IEC61000-4-2 |
| Radio Frequency Electromagnetic Field Immunity | RF Power Amplifier, Signal Generator, Antenna, Power Meter, Field Strength Probe | GB/T 17626.3 |
Key Terminology Explanation
Electromagnetic Interference (EMI)
The physical phenomenon where equipment or systems emit electromagnetic energy from the source during operation. The resulting electromagnetic fields or electromagnetic energy may affect the normal operation of other equipment.
Electromagnetic Susceptibility (EMS)
The immunity capability of equipment or systems to electromagnetic interference present in the electromagnetic environment, i.e., the ability to resist external electromagnetic interference and maintain normal operation in a given electromagnetic environment.
Line Impedance Stabilization Network (LISN)
Acts as a high-frequency isolation between the Equipment Under Test (EUT) and the power supply to isolate the EUT from the power grid and evaluate or measure disturbance voltage at DC power ports.
Anechoic Chamber
A shielded room with absorptive material covering the inner walls. Its main function is to reduce electromagnetic reflection interference, providing a controlled electromagnetic environment for radiated emission testing and radiated immunity testing.
