1 Scope
2 Normative references
3 Definitions
4 Units
5 Abbreviations and symbols
    5.1 Basic abbreviations
    5.2 Quantities
    5.3 Indices
    5.4 Other symbols
6 Performance testing conditions
    6.1 Robot mounting
    6.2 Conditions prior to testing
    6.3 Operating and environmental conditions
    6.4 Displacement measurement principles
    6.5 Instrumentation
    6.6 Load to the mechanical interface
    6.7 Test velocities
    6.8 Definitions of poses to be tested and paths to
          be followed
    6.9 Number of cycles
    6.10 Test procedure
    6.11 Characteristics to be tested - Applications
7 Pose characteristics
    7.1 General description
    7.2 Pose accuracy and pose repeatability
    7.3 Distance accuracy and repeatability
    7.4 Position stabilization time
    7.5 Position overshoot
    7.6 Drift of pose characteristics
    7.7 Exchangeability
8 Path characteristics
    8.1 General
    8.2 Path accuracy
    8.3 Path repeatability
    8.4 Path accuracy on reorientation
    8.5 Cornering deviations
    8.6 Path velocity characteristics
9 Minimum posing time
10 Static compliance
11 Application specific performance criteria
    11.1 Weaving deviations
12 Test report
Annex
A (normative) Parameters for comparison tests
B (informative) Guide for selection of tests for typical
applications
C (informative) Example of a test report
ZA (normative) Normative references to international
publications with their relevant European publications