Introduction to EMI Testing of Engineering and Medical Robots_Century Wisdom (Suzhou) Testing Technology Co., Ltd

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Introduction to EMI Testing of Engineering and Medical Robots

Release time:

2023-07-13 15:28

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In order to better regulate the electromagnetic compatibility of industrial robots, relevant technical institutions have jointly formulated GB/T 38326-2019 "Electromagnetic Compatibility Immunity Test for Industrial, Scientific and Medical Robots" and GB/T 38336-2019 "Electromagnetic Compatibility Test Methods and Limits for Industrial, Scientific and Medical Robots", which are more suitable for industrial robots. Therefore, in February 2021, CR certification will change the electromagnetic compatibility testing basis of industrial robots from GB/T 17799.2-2003 and GB 17799.4-2012 to GB/T 38326-2019 and GB/T 38336-2019. The new standard not only has a complete range of test items, but also describes in detail the test limits, test arrangements and running states of different types of engineering and medical robots in different use environments, making the test more rigorous and improving the consistency of the test.

This paper introduces the methods and requirements of the EMI part in the EMC test of engineering and medical robots.

1. measurement conditions and general arrangement

1, the classification of engineering and medical robots

1.1 engineering and medical robots were divided into two groups, namely group 1 and group 2.

Group 1: Other engineering and medical robots except Group 2 engineering and medical robots.

Group 2: including all medical and engineering robots that intentionally generate and use or locally use radio frequency energy in the 9kHz to 400GHz frequency band in the form of electromagnetic radiation, inductive and/or capacitive coupling, for the purpose of material processing or inspection/analysis, or for the transmission of electromagnetic energy.

1.2 are divided into Class A and Class B according to the intended use of engineering and medical robots in an electromagnetic environment.

Class A engineering and medical robots: Engineering and medical robots used in non-residential environments and facilities that are not directly connected to the residential low-voltage power supply network. Class A engineering and medical robots need to meet Class A limits.

Class B engineering and medical robots: engineering and medical robots used in domestic and direct connection to residential low-voltage power supply facilities. Class B engineering and medical robots need to meet Class B limits.

2, test operation mode

Engineering and medical robots can be divided into mobile engineering and medical robots and fixed engineering and medical robots according to different installation methods. Refer to Table 1 and Table 2 for the corresponding test operation mode.

Table 1 Test mode of fixed engineering and medical robot

Table 2 Test mode of mobile medical robot

3. Test arrangement

General rules of 3.1

The measurement arrangement of the engineering and medical robot is carried out in accordance with the requirements in Figure 1.

Fig.1 Measurement arrangement of engineering and medical robot

3.2 Fixed Engineering and Medical Robot Test Arrangement

3.2.1 Conducted disturbance measurement arrangement

The arrangement of fixed engineering and medical robots shall be carried out in accordance with the requirements of GB/T6113.201-2018. Engineering and medical robots are divided into desktop engineering and medical robots and floor-to-floor engineering and medical robots according to actual use. The arrangement is shown in Figure 2 to Figure 4.

Figure 2 Example of test layout for conducted disturbance measurement of desktop engineering and medical robot

Fig. 3 Example of test layout of floor-standing medical robot conducted disturbance measurement

Figure 4 Table and floor type engineering and medical robot conducted disturbance measurement test layout example

3.2.2 Radiation disturbance measurement arrangement

An engineering and medical robot used as a desktop device is placed on a non-metallic table. The height of the table top is 0.8m, and the size is usually 1.5m × 1.0m; but the actual size depends on the horizontal size of the engineering and medical robot. The arrangement of the desktop engineering and medical robot is shown in Figure 5.

Fig.5 Typical measurement arrangement of radiation disturbance measurement for desktop engineering and medical robot

The floor-standing medical robot is placed on a horizontal reference grounding plate, its orientation is consistent with normal use, and the insulation distance between its metal body/component unit and the reference grounding plate is not more than 0.15m. The arrangement of the floor-type engineering and medical robot is shown in Figure 6.

Fig.6 Typical measurement arrangement of floor-mounted medical robot radiation disturbance measurement

The extra-long portions of the cables between the desktop and floor-type engineering and medical robot units are respectively bundled in an S-shape with 30cm to 40cm long line segments near the center thereof. The position of the harness is 0.4m above the horizontal reference grounding plate. If the gap between the entrance or connection point and the horizontal reference grounding plate is less than 0.4m, it is located at the entrance of the cable or the connection point of the cable. The arrangement of desktop and floor-mounted engineering and medical robots is shown in Figure 7.

Fig.7 Typical measurement arrangement for radiation disturbance measurement of desktop and floor-mounted engineering and medical robots

Layout of 3.3 Mobile Engineering and Medical Robot

The working state of mobile engineering and medical robot is divided into charging mode and working mode. The mobile engineering and medical robot is supported by an insulating material (the height is not more than 15cm), so that the driving system of the engineering and medical robot can move freely. The arrangement is shown in Figure 8.

Fig. 8 Example of test arrangement of mobile engineering and medical robot

2. limit

1, harmonic current and voltage fluctuation emission limit

1.1 harmonic current limit

The harmonic current emission of engineering and medical robots with rated input current of not more than 16A per phase meets the limits given in GB17625.1;

The harmonic current emission of engineering and medical robots with rated input current greater than 16A and less than or equal to 75A per phase meets the limits given in GB/T17625.8.

1.2 Voltage Fluctuation and Flicker Limits

The voltage fluctuation and flicker limits of the robot with the rated input current of each phase not more than 16A shall comply with the limits given in GB/T17625.2;

The voltage fluctuation and flicker limits of engineering and medical robots with rated input current greater than 16A and less than or equal to 75A per phase conform to the limits given in GB/T17625.7.

2, Conducted Disturbance Limits for Power and Telecom Ports

2.1 Power Port Conducted Disturbance Limits

No limit is specified for the 9kHz to 150kHz frequency band. Refer to Fig. 9~11 for the provisions of AC power port conducted disturbance limit for 150kHz ~ 30MHz frequency band.

Fig. 9 Disturbance voltage limit of group 1 class A medical robot (AC power port)

Fig. 10 Disturbance Voltage Limits of Group 2 Class A Medical Robots (AC Power Port)

Fig. 11 Disturbance voltage limit of class B medical robot (AC power port)

2.2 Telecom Port Conducted Disturbance Limits

Refer to Fig. 12 and Fig. 13 for the limit of common mode (asymmetric) disturbance of telecommunication port conduction in the frequency band of 150kHz ~ 30MHz.

Fig. 12 Limits of Conducted Common Mode (Asymmetric) Disturbance at Telecommunication Port of Class A Medical Robot

Fig. 13 Limits of Conducted Common Mode (Asymmetric) Disturbance of Telecom Port of Class B Engineering Medical Robot

Limits of 2.3 electromagnetic radiation disturbance

2.3.1 150kHz ~ 30MHz frequency band

Two groups of engineering medical robots shall meet the limit requirements specified in Figures 14 and 15.

Fig. 14 Electromagnetic Radiation Disturbance Limits of Group 2 Class A Medical Robots

Fig. 15 Electromagnetic Radiation Disturbance Limits of Group 2 Class B Medical Robots

2.3.2 30MHz ~ 1GHz band

One group of Class A engineering and medical robots shall meet the limit requirements specified in Figure 16, one group of Class B engineering and medical robots shall meet the limit requirements specified in Figure 17, two groups of Class A engineering and medical robots shall meet the limit requirements specified in Figure 18, and two groups of Class B engineering and medical robots shall meet the limit requirements specified in Figure 19.

Fig. 16 Electromagnetic Radiation Disturbance Limits of Group 1 Class A Medical Robots

Fig. 17 Electromagnetic Radiation Disturbance Limits of Group 1 Class B Medical Robots

Fig. 18 Electromagnetic Radiation Disturbance Limits of Group 2 Class A Medical Robots

Fig. 19 Electromagnetic Radiation Disturbance Limits of Group 2 Class B Engineering and Medical Robots

2.3.3 Frequency bands above 1GHz

The radiation disturbance measurement in the frequency band above 1GHz shall be carried out in the OATS or SAC with absorbing materials on the whole anechoic chamber or the ground, and shall meet the limit requirements specified in Figure 20 and Figure 21.

The highest internal source of the engineering medical robot refers to the highest frequency generated or used inside the engineering medical robot, or the frequency at which the engineering medical robot works or tunes. Selection of upper limit of measurement frequency:

If the highest frequency inside the medical robot is lower than 108MHz, the measurement is only carried out to 1GHz;
If the highest frequency inside the engineering and medical robot is between 108MHz and 500MHz, the measurement is only carried out to 2GHz;
If the highest frequency inside the engineering and medical robot is 500MHz ~ 1GHz, the measurement is only carried out to 5GHz;
If the highest frequency inside the medical robot is higher than 1GHz, the measurement will be carried out to 5 times the highest frequency or 6GHz, whichever is smaller.

Fig. 20 Radiation Disturbance Limit of Class A Engineering and Medical Robot (3m Measurement Distance)

Fig. 21 Radiation Disturbance Limit of Class B Engineering and Medical Robot (3m Measurement Distance)

If you need to know more about electromagnetic compatibility testing instruments, you can visit the company's website http://www.emc-mall.com/查看。

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