GB/T 39633-2020 in English

This standard specifies the terminology, technical requirements and test methods for the integrated servo motor system for collaborative robots. It is applicable to integrated joint modules powered by DC 48V or less, and includes the collaborative design of components such as motors, drivers, reducers, and sensors.

Comparison of key technical indicators

The standard requires that the system must implement three major safety functions:

1. Safe Torque Off (STO): Cut off power output in an emergency
2. Torque Limit (SLT): Output torque does not exceed the set threshold
3. Speed Limit (SLS): Automatically limit the operating speed

Typical application case: When a collaborative robot detects a collision between a human and the robot, the STO function should be triggered within 10ms.

The system needs to pass strict EMC tests, including:

• Surge immunity: ±0.5kV
• Electrostatic discharge: contact discharge 4kV/air discharge 8kV
• Radiated disturbance limit: 30-230MHz frequency band ≤30dBμV/m

It is recommended to use metal shielding shell and filter circuit design to meet the requirements.

Design stage

Give priority to hollow structure absolute encoder (resolution above 18 bits) and modular reducer (backlash ≤1arcmin).

Test verification

Suggested additions:

• 100,000 repeated positioning life test
• 5Hz sine swept vibration test
• Safety function response time measurement

Standard evolution trend

As the load capacity of collaborative robots increases, future versions may:

1. Expand the voltage range to 72V DC
2. Increase wireless communication interface requirements
3. Strengthen AI fault prediction function