Robot Power Consumption by Mode and Model (Doosan Robotics)

0. Purpose

This article provides standardized reference data for robot power consumption across different operating modes (Standby, Servo ON, Normal) and models. It helps users estimate energy usage for system design, operation, and cost analysis.

1. Scope

This document applies to:

• Doosan Robotics models:
  • A0509, A0912
  • M1013, M0609, M1509
  • H2017
• Robot controller operating modes:
  • Standby (Servo Off)
  • Standby (Servo ON)
  • Normal Mode
• High-load testing conditions

2. Contents

1. Purpose
2. Scope
3. Contents
4. Power Consumption Overview
5. Power Consumption Table
6. Normal Mode Definition
7. Standard Motion (DRL Commands)
8. Image Description
9. Notes & Limitations
10. Related to

3. Power Consumption Overview

Power consumption varies significantly depending on robot state:

• Servo OFF (Idle) → Lowest power consumption
• Servo ON (Idle Ready) → Moderate power consumption
• Normal Mode (Full Operation) → High power consumption

⚠️ Important:

• Normal mode represents worst-case conditions (maximum payload + maximum speed/acceleration)
• Actual usage power is typically lower than Normal Mode

4. Power Consumption Table

4.1 Power Consumption by Model and Mode

5. Normal Mode Definition

5.1 Objective

Define a standardized test condition for comparing robot power consumption.

5.2 Definition

Normal Mode is defined as:

A repeated motion under maximum payload and maximum velocity/acceleration conditions for each robot model.

5.3 Detailed Conditions

Payload

• Each model operates at maximum payload
• Example:
  • M1013 → 10 kg

Velocity / Acceleration

• Maximum settings per model
• Example (M1013):

Velocity (vel3): [120, 120, 180, 225, 225, 225]
Acceleration (acc3): [120, 120, 180, 225, 225, 225]

Motion Behavior

• Repetitive motion sequence
• Based on A-series warm-up cycle
• Includes 1-second wait between movements

6. Standard Motion (DRL Commands)

6.1 Objective

Define repeatable robot motion used for power measurement.

6.2 Joint Positions

q_1 = [-90, -90,  90,  90,  90, -90]
q_2 = [ 90,  90, -90, -90, -90,  90]
q_3 = [-90, -90,  90,  90,  90, -90]
q_4 = [ 90,  90, -90, -90, -90,  90]

6.3 Motion Sequence

Steps:

1. movej(q_1)
2. wait(1 sec)
3. movej(q_2)
4. wait(1 sec)
5. movej(q_3)
6. wait(1 sec)
7. movej(q_4)
8. wait(1 sec)

👉 This sequence is repeated continuously during measurement.

6.4 Result

• Generates maximum load operational pattern
• Ensures consistent and repeatable power measurement baseline