This standard specifies the performance model of industrial robot control system, performance index test and evaluation method, test documentation set requirements and compliance evaluation rules. This standard applies to industrial robot control systems and can be used by industrial robot control system designers, developers, testers and evaluators. Note: This standard does not specify the measurement value range to achieve the rating level or compliance level, because the value of each performance indicator depends on the use environment and user needs. Some attributes may have ideal value ranges, and these values depend on general factors such as human cognitive factors, rather than specific user needs. River calculation