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ISO 9283 · Final inspection · Compliance

Every datasheet number is a measured number.

Every robot is measured for repeatability and passes six inspection steps before it ships. Here is exactly how we measure, what we check and which standards we follow.

Test points
5
Returns to each point
30×
Hits per robot
150
Final inspection
6steps

How we measure repeatability

Five points. Thirty returns each.

The ±0.03 mm on a datasheet tells you how far the tool point scatters when the robot returns to the same spot again and again. We measure it the ISO 9283 way: five points, 30 returns each.

ISO 9283 test cube, its five points and the tool path over 30 loopsP1P2P3P4P5aXYZParallel to the base axesTest plane
Title
Test cube · axonometric
Drawing no.
HG-DWG-401
Scale
NTS
Unit
mm
The test cube in the robot’s main work space, its diagonal test plane (shaded) and the five points on it. The 29 fine lines and one copper line trace the tool point over 30 loops of P1 → P5 → P4 → P3 → P2 → P1. The path varies a little each time, but it meets at the same points.

The cube and the test plane

We place the largest cube that fits in the part of the work space the robot uses most, with its edges parallel to the base axes. The test points sit on a diagonal plane through that cube.

The test plane is the diagonal plane joining the cube’s bottom front edge and top back edge. Width to height is 1 : √2.

  1. P1Center of the cube
  2. P2Lower left, 10% in from the end of the diagonal
  3. P3Lower right, 10% in from the end of the diagonal
  4. P4Upper right, 10% in from the end of the diagonal
  5. P5Upper left, 10% in from the end of the diagonal

The loop

  1. P1
  2. P5
  3. P4
  4. P3
  5. P2
  6. P1

The loop runs 30 times: 30 hits per point, 150 in all.

  1. 1. Warm up and hold temperature

    The test room is held at about 20 °C. Each robot runs all axes for more than 30 minutes so the joints and reducers are warm before we measure.

  2. 2. Mount the rated load

    A test weight equal to the rated payload goes on the flange, and the robot moves at rated speed, as the datasheet conditions specify.

  3. 3. Set the five points

    P1 is the center of the cube’s diagonal plane. P2 to P5 sit 10% of the diagonal length in from each end of the diagonals.

  4. 4. Return 30 times

    Starting at P1, the robot visits P5, P4, P3, and P2, then returns to P1. It repeats that loop 30 times, giving 30 hits per point and 150 in all.

  5. 5. Record every hit

    A laser tracker reads the position of a reflector on the flange each time the robot settles at a point.

  6. 6. Calculate the scatter

    For each point, we find the barycenter of its 30 hits and compute RP from each hit’s distance to it. The largest of the five values becomes that robot’s repeatability, and it must fall within the datasheet value to ship.

Detail A: 30 hits on one point, their barycenter, the mean distance circle and the RP circleRPMean distanceℓBarycenterCommanded pointAccuracy30 hits · not to scale
Title
Detail A · hits on one point
Drawing no.
HG-DWG-402
Scale
NTS
Unit
mm
30 hits on one point. We measure each hit’s distance (ℓ) to the barycenter, take the mean and standard deviation (S), and get RP, the radius of a circle that holds nearly every hit. The dashed circle is the mean distance and the copper one is RP, both computed from the dots drawn here.

The formula

ℓ
Distance from one hit to the barycenter of all 30 hits
ℓ
Mean of those 30 distances
S
Standard deviation of those 30 distances

Adding three standard deviations to the mean gives the radius of a sphere that holds nearly every hit.

±0.03mm

Datasheets write it as ±0.03 mm. What it means is that the hits fall inside a sphere of 0.03 mm radius centered on their barycenter.

Repeatability is not accuracy. Accuracy is how close the robot gets to a commanded coordinate. Repeatability is how consistently it lands in the same place each time it comes back.

Final inspection

Six boxes checked, then it ships.

Every robot goes through six steps before it ships. The records from each step are filed under the robot’s serial number.

Final inspection report Example

Model
HG-C10-13
Serial no.
HGC-0000-00000
Repeatability test
ISO 9283
StepCheckWhat we doRecord keptDone
1Joint testEach assembled joint module goes on a test bench, where we check torque sensor zero, reducer play, brake holding torque, and noise.Joint test sheet
2Burn-in runThe finished robot runs all axes for 24 hours while we log joint temperature, vibration, and noise. Anything out of range is traced, fixed, and run again.Run log: temperature, vibration, noise
3CalibrationA laser tracker measures axis zero and link length errors, and the correction values are loaded into that robot’s HGC-7 controller.Calibration values
4Repeatability testWe run the ISO 9283 test, five points with 30 returns each. The largest of the five values has to be within spec before the robot moves on.RP for each of the five points
5Safety function checkWe measure stopping time and distance for emergency and protective stops. On cobots, we check each of the 18 safety functions against its settings.Stopping time and distance
6Finish, paperwork, and packingWe check paint, cables, and the nameplate (serial number and ratings), pack the inspection report with the robot, and attach a shock logger to the crate.Inspection report
Ask us any time and we will pull the inspection report for your robot by serial number.

Safety and compliance

No badges. Just the facts.

We list compliance in text only, with no certification marks. This is a fictional company, so every number below is a sample.

Why we write “KCs self-declaration of safety conformity”

Under Korean occupational safety law, an industrial robot itself is covered by self-declaration, which is why we write “KCs self-declaration of safety conformity.” Mandatory safety certification applies to protective devices such as safety mats and light curtains.

The KCs self-declaration certificates, the ISO 10218-1 certificate, and the CE declarations are on the downloads page (all samples).

Downloads

Collaborative applications

Risk assessment comes first.

HG-C robots are built for collaborative applications. The robot alone does not make an application collaborative, so we review it with you before you deploy.

HG-C robots are built for collaborative applications, with power and force limiting (PFL) and speed and separation monitoring (SSM). Their safety functions limit force and speed so they can work near people, but the robot alone does not make an application collaborative.

Whether an application can run collaboratively is decided by a risk assessment of the whole application, including tooling, workpieces, and nearby equipment (ISO 10218-2:2025, ISO 12100).

In Korea, Article 223 of the Rules on Occupational Safety and Health Standards requires a fence or equivalent collision protection, and the installed robot must pass a safety inspection. Outside Korea, follow your local rules. Our Frankfurt and Detroit teams can help.

From the spec review on, we supply what the risk assessment needs, such as safety settings, stopping time and distance, and examples of tool edge treatment, and we review it with you.

  • Safety-rated monitored stop

    The robot stops and waits while a person is in the collaborative space.

  • Hand guiding

    A person moves the arm by hand to teach positions.

  • Speed and separation monitoring (SSM)

    The robot slows down or stops based on its distance to people.

  • Power and force limiting (PFL)

    Contact force and pressure are kept below set limits.

Risk assessment in five steps

  1. 1Prepare
  2. 2Identify hazards
  3. 3Estimate and evaluate the risk
  4. 4Plan and apply risk reduction
  5. 5Record and keep the results

Safety inspections after installation

In Korea, the employer running the robot is responsible for the safety inspection: the first within three years of installation, then every two years.

0123456789yrInstalledFirst check ≤ 3 yr2 yr2 yr2 yr

Need a test record? We find it by serial.

We keep the inspection report and per-point repeatability record for every robot. For collaborative applications, we prepare the risk assessment data with you from the spec review on.

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