ISO/TS 25213:2026

Technical
Specification
ISO/TS 25213
First edition
Robotics — Test methods for
2026-09
measuring the energy consumption
of robots — 6-Axis articulated
industrial robots
Robotique — Méthodes d'essai pour mesurer la consommation
d'énergie des robots — Robots industriels 6 axes
Reference number
© ISO 2026
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ii
Contents Page
Foreword .iv
Introduction .v
1 Scope . 1
2 Normative references . 1
3 Terms and definitions . 1
4 Setting up the measurements . 1
4.1 Robot mounting .1
4.2 Measurement equipment.2
4.3 Environmental conditions .2
4.4 Measurement preparations .2
4.5 Payload specifications .2
5 Measuring energy consumption. 4
5.1 Recording the measurement .4
5.2 Stationary manipulator .5
5.2.1 Stationary conditions .5
5.2.2 Stationary position and payload .5
5.3 Moving manipulator .5
5.3.1 Measurement path .5
5.3.2 Zoning .6
5.3.3 Acceleration and deceleration .6
5.3.4 Warm-up cycle .6
5.3.5 Repetition of S-plane . .7
5.3.6 Measurement velocities .7
5.4 Energy efficiency coefficient (EEC) .7
6 Test report . 8
Annex A (normative) Test report . 9
Bibliography .13

iii
Foreword
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iv
Introduction
There is significant global focus on energy savings, which also impact the field of robotics. To contribute
to this worldwide effort, this document outlines how to measure the energy consumption of a 6-axis,
[1]
articulated, industrial robot for typical applications. It supports ISO 9283 , which provides an overview of
how to measure the performance criteria and related test methods.
[1]
While ISO 9283 does not specify how to measure energy consumption, this document provides criteria
for how to set up, run and report energy consumption results and calculate energy efficiency while the robot
is moving, waiting and standing still.

v
Technical Specification ISO/TS 25213:2026(en)
Robotics — Test methods for measuring the energy
consumption of robots — 6-Axis articulated industrial robots
1 Scope
This document specifies methods of measuring energy consumption for a 6-axis, articulated, industrial
robot for typical applications. It further specifies the conditions for the measurements and how the results
of the measurements are presented.
This document does not apply to service robots and medical, SCARA, AMRs and DELTA robots.
2 Normative references
There are no normative references in this document.
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
ISO and IEC maintain terminology databases for use in standardization at the following addresses:
— ISO Online browsing platform: available at https:// www .iso .org/ obp
— IEC Electropedia: available at https:// www .electropedia .org/
3.1
S-plane
plane in a cube with defined measurement of the sides
3.2
brakes disengaged
state in which the motors are on, the motor brakes are open and the controller is on
Note 1 to entry: The brakes are disengaged when the robot is in an active state.
3.3
brakes engaged
state in which the motors are off, the motor brakes are engaged and the controller is on
Note 1 to entry: The brakes are engaged during, for example, lunch breaks or while waiting for the next cycle to start.
3.4
sleep
state in which the motors are off, the motor brakes are engaged and the controller and computer are asleep
Note 1 to entry: Sleep occurs during weekends or overnight.
4 Setting up the measurements
4.1 Robot mounting
The robot shall be mounted on the floor in accordance with the manufacturer's instructions.

The robot shall be completely assembled and fully operational. All necessary levelling operations, alignment
procedures and functional measurements shall be completed.
4.2 Measurement equipment
The measurement equipment should observe the parameters outlined in Table 1. The energy consumption
measurement points are between the primary power supply section between the facility power supply and
the robot controller power input. The test does not include associated application equipment such as machine
tools or automation with control-related power requirements, which can be sensitive to power fluctuations.
Table 1 — Measurement equipment parameters
Parameter Requirement Required
Appropriate to the grid
Measuring range voltage Optional
system
Measuring range Appropriate to the robot
Optional
current system
Measuring range
5kHz≤ Yes
frequency
Maximum measurement
error of all channels in < 1% Yes
the range 1 to 200 A
Maximum measurement
error of all channels in < 5% Yes
the range 0 to 1A
Able to record power
Recording ability Yes
and time
Recording or inception
Trigger signal Yes
measurement
Able to measure the Optional, required if a
Bi-directional meter directional flow to find regenerative power unit
the regenerative power is used
4.3 Environmental conditions
The manufacturer shall state the ambient temperature during the measurement procedure in the final
report found in Annex A.
4.4 Measurement preparations
The robot and the measuring instruments should be in the measurement environment long enough
(preferably overnight) so that they are in a thermally stable condition before beginning. They shall be
protected from draughts and external thermal radiation (e.g. sunlight, heaters).
4.5 Payload specifications
The measurement shall be repeated with two separate payloads. First, use with 100% of the rated payload
according to the manufacturer. Second, use the specified measurement load according to the load class.
Every robot falls into a certain load class based on its rated payload as specified in Table 2. The measurement
mass is specified under the measurement load group in Table 3, along with the centre of gravity of the load
in relation to the centre of the mounting area on the robot. If the robot is not able to fulfil the measurement's
mass centre of gravity requirements as specified in Table 3, then it should go down to the robot's maximum
measurement mass centre of gravity that it can fulfil. This value should be recorded in the test report (see
Annex A). A technical drawing of the test payload should be included in the
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