A Test Procedure Optimization Method for an Industrial Robot Servo System on an Integrated Testing Platform

Table 1

The codes and definitions of the parameters of control variables on the IITP.

Control variables	The codes and definitions of the parameters of control variables
State of IRSS being tested	I0	I1	I2	I3	I4	I5
	Stop	Rated speech	Rated speech (reverse rotation)	Maximum allowable speed 120%	Linear increase to rated speed	Rated speech decreases linearly to 0
	I6	I7	I8	I9	I10	I11
	Maximum working speed	Stop after rated speed	Linear increase to start-up	Step signal	Chirp signal	Sine wave frequency conversion signal
	I12
	Linear increase to speed change of load system
State of loading system	L0	L1	L2	L3	L4	L5
	No-load output	Rated torque	Continuous locked torque	Peak locked torque	Linear load to rated torque	Linear increase to maximum torque