SIST EN IEC 62849:2026

SLOVENSKI STANDARD
01-marec-2026
Nadomešča:
SIST EN 62849:2017
Metode vrednotenja učinkovitosti robotov za gospodinjsko in podobno uporabo
(IEC 62849:2025)
Performance evaluation methods of robots for household and similar use (IEC
62849:2025)
Verfahren zur Bewertung der Leistungsfähigkeit von Robotern für den Hausgebrauch
und ähnliche Zwecke (IEC 62849:2025)
Méthodes d'évaluation de l'aptitude à la fonction des robots mobiles à usage domestique
(IEC 62849:2025)
Ta slovenski standard je istoveten z: EN IEC 62849:2026
ICS:
97.030 Električni aparati za dom na Domestic electrical
splošno appliances in general
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

EUROPEAN STANDARD EN IEC 62849

NORME EUROPÉENNE
EUROPÄISCHE NORM January 2026
ICS 97.030 Supersedes EN 62849:2016
English Version
Performance evaluation methods of robots for household and
similar use
(IEC 62849:2025)
Méthodes d'évaluation de l'aptitude à la fonction des robots Verfahren zur Bewertung der Leistungsfähigkeit von
à usage domestique et analogue Robotern für den Hausgebrauch und ähnliche Zwecke
(IEC 62849:2025) (IEC 62849:2025)
This European Standard was approved by CENELEC on 2025-12-29. CENELEC members are bound to comply with the CEN/CENELEC
Internal Regulations which stipulate the conditions for giving this European Standard the status of a national standard without any alteration.
Up-to-date lists and bibliographical references concerning such national standards may be obtained on application to the CEN-CENELEC
Management Centre or to any CENELEC member.
This European Standard exists in three official versions (English, French, German). A version in any other language made by translation
under the responsibility of a CENELEC member into its own language and notified to the CEN-CENELEC Management Centre has the
same status as the official versions.
CENELEC members are the national electrotechnical committees of Austria, Belgium, Bulgaria, Croatia, Cyprus, the Czech Republic,
Denmark, Estonia, Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, the
Netherlands, Norway, Poland, Portugal, Republic of North Macedonia, Romania, Serbia, Slovakia, Slovenia, Spain, Sweden, Switzerland,
Türkiye and the United Kingdom.

European Committee for Electrotechnical Standardization
Comité Européen de Normalisation Electrotechnique
Europäisches Komitee für Elektrotechnische Normung
CEN-CENELEC Management Centre: Rue de la Science 23, B-1040 Brussels
© 2026 CENELEC All rights of exploitation in any form and by any means reserved worldwide for CENELEC Members.
Ref. No. EN IEC 62849:2026 E
European foreword
The text of document 59/857/FDIS, future edition 2 of IEC 62849, prepared by TC 59 "Performance of
household and similar electrical appliances" was submitted to the IEC-CENELEC parallel vote and
approved by CENELEC as EN IEC 62849:2026.
The following dates are fixed:
• latest date by which the document has to be implemented at national (dop) 2027-01-31
level by publication of an identical national standard or by endorsement
• latest date by which the national standards conflicting with the (dow) 2029-01-31
document have to be withdrawn
This document supersedes EN 62849:2016 and all of its amendments and corrigenda (if any).
Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights. CENELEC shall not be held responsible for identifying any or all such patent rights.
Any feedback and questions on this document should be directed to the users’ national committee. A
complete listing of these bodies can be found on the CENELEC website.
Endorsement notice
The text of the International Standard IEC 62849:2025 was approved by CENELEC as a European
Standard without any modification.
In the official version, for Bibliography, the following notes have to be added for the standard indicated:
ISO 2813 NOTE Approved as EN ISO 2813
ISO 13482:2014 NOTE Approved as EN ISO 13482:2014 (not modified)
Annex ZA
(normative)
Normative references to international publications
with their corresponding European publications
The following documents are referred to in the text in such a way that some or all of their content
constitutes requirements of this document. For dated references, only the edition cited applies. For
undated references, the latest edition of the referenced document (including any amendments)
applies.
NOTE 1  Where an International Publication has been modified by common modifications, indicated by (mod),
the relevant EN/HD applies.
NOTE 2  Up-to-date information on the latest versions of the European Standards listed in this annex is available
here: www.cencenelec.eu.
Publication Year Title EN/HD Year
IEC/TS 61496-4-3 - Safety of machinery - Electro-sensitive - -
protective equipment - Part 4-3: Particular
requirements for equipment using vision
based protective devices (VBPD) -
Additional requirements when using stereo
vision techniques (VBPDST)
IEC/TS 62885-1 - Surface cleaning appliances - Part 1: - -
General requirements on test material and
test equipment
IEC/ASTM 62885-7 2020 Surface cleaning appliances - Part 7: Dry- EN IEC/ASTM 2021
cleaning robots for household or similar 62885-7
use - Methods for measuring the
performance
+ AMD1 2022 + A1 2023
ISO 554 - Standard atmospheres for conditioning - -
and/or testing - Specifications
ISO 2768-1 1989 General tolerances - Part 1: Tolerances for EN 22768-1 1993
linear and angular dimensions without
individual tolerance indications
ISO 13856-3 - Safety of machinery - Pressure-sensitive EN ISO 13856-3 -
protective devices - Part 3: General
principles for design and testing of
pressure-sensitive bumpers, plates, wires
and similar devices
IEC 62849 ®
Edition 2.0 2025-11
INTERNATIONAL
STANDARD
Performance evaluation methods of robots for household and similar use

ICS 97.030  ISBN 978-2-8327-0879-8

IEC 62849:2025-11(en)
IEC 62849:2025 © IEC 2025
CONTENTS
FOREWORD . 4
INTRODUCTION . 6
1 Scope . 7
2 Normative references . 7
3 Terms and definitions . 8
4 General conditions for testing . 9
4.1 Conditions prior to testing . 9
4.2 Operating and environmental conditions . 10
4.2.1 General . 10
4.2.2 Operating conditions . 10
4.2.3 Atmospheric conditions . 10
4.2.4 Lighting conditions . 10
4.3 Test equipment and materials . 10
4.4 Number of samples . 10
4.5 Preparation of battery . 11
4.6 Operation of the household robot . 11
4.7 Measurement resolution and accuracy . 11
4.8 Tolerance of dimensions . 12
5 Units . 12
6 Mobility . 12
6.1 Threshold overcome . 12
6.1.1 General . 12
6.1.2 Test equipment . 13
6.1.3 Test method . 15
6.2 Transition overcome . 16
6.2.1 General . 16
6.2.2 Test equipment – Basic test bed configuration . 16
6.2.3 Test method . 16
6.3 Managing a single step . 17
6.3.1 General . 17
6.3.2 Test bed . 17
6.3.3 Test method . 18
6.4 Managing a ramp . 19
6.4.1 General . 19
6.4.2 Test equipment . 19
6.4.3 Test method . 21
6.4.4 Test results . 21
6.5 Cable traversing behaviour . 22
6.5.1 General . 22
6.5.2 Test bed . 22
6.5.3 Test method . 24
7 Navigation . 26
7.1 Pose measurements . 26
7.1.1 General . 26
7.1.2 Test bed . 26
7.1.3 Square test mode . 26
IEC 62849:2025 © IEC 2025
7.1.4 Straight line test mode . 28
7.2 Capability of homing function . 29
7.2.1 General . 29
7.2.2 Test room . 29
7.2.3 Test method . 30
7.3 Obstacle avoidance . 31
7.3.1 General . 31
7.3.2 Test bed . 32
7.3.3 Test method . 33
7.4 Lighting effects . 34
7.4.1 General . 34
7.4.2 Lighting conditions . 35
7.4.3 Test equipment and materials . 35
7.4.4 Test method . 36
8 Energy use . 36
8.1 Energy consumption of a household robot. 36
8.1.1 General . 36
8.1.2 Test conditions . 36
8.1.3 Test method . 37
8.2 Operation time per single charge . 39
8.2.1 General . 39
8.2.2 Test bed . 39
8.2.3 Test method . 40
9 Instructions for use . 41
Annex A (informative) Recommended robot test room for household and similar use . 42
A.1 General . 42
A.2 Test condition . 42
A.3 Test bed . 42
A.4 A compositions of multi-room . 43
A.4.1 General . 43
A.4.2 Room definitions . 43
A.4.3 Layout definitions . 44
Annex B (informative) Usage profile for robot for household and similar use . 48
Annex C (informative) Simulated work cycle . 50
Annex D (informative) Matrix of multiple operation modes . 51
Annex E (informative) Example of transition overcome test beds . 52
Bibliography . 54

Figure 1 – Basic test bed configuration for mobility testing . 13
Figure 2 – Test bed with additional threshold . 14
Figure 3 – Drawings of cylindrical, rectangular and trapezoid thresholds . 14
Figure 4 – Starting positions and orientations . 15
Figure 5 – Process to determine the maximum passable transition height . 17
Figure 6 – Managing a single step configuration . 18
Figure 7 – Starting position for managing a single step test . 19
Figure 8 – Side view (15° configuration). 20
Figure 9 – Top view (15° configuration). 20
IEC 62849:2025 © IEC 2025
Figure 10 – Zoom on transitions (15° configuration) . 21
Figure 11 – Wire fastening configuration . 23
Figure 12 – Floor circle marks schematic diagram . 23
Figure 13 – Floor circle marks schematic diagram with robot . 24
Figure 14 – Top view of cable traversing behaviour configuration . 24
Figure 15 – Side view of cable traversing behaviour configuration . 25
Figure 17 – Pose measurements configuration-straight line mode . 28
Figure 18 – Capability of homing function configuration . 30
Figure 19 – Obstacle avoidance configuration . 32
Figure 20 – Starting position for obstacle avoidance test . 33
Figure 21 – Illustration of pendant light . 35
Figure 22 – Operation time per single charge configuration . 40
Figure A.1 – Interconnection diagram of multi-room (alternative) . 45
Figure A.2 – Schematic of robot test room . 46
Figure E.1 – Transition formed by stacking sheets on area B . 52
Figure E.2 – Transition formed by adjusting the height of platform B . 53

Table 1 – Tolerance of linear dimension. 12
Table 2 – Tolerance of external radius and chamfer heights . 12
Table 3 – Typical thresholds and its characteristic . 13
Table 4 – Test results of the managing a ramp . 22
Table 5 – Outcome and maximum swinging distance . 26
Table 6 – Objects for pose measurement . 28
Table 7 – Overview of duration and the values that should be reported in this test . 39
Table A.1 – Dimensions of furniture . 46
Table D.1 – Combination regarding multiple operation modes . 51

IEC 62849:2025 © IEC 2025
INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
Performance evaluation methods of robots for household and similar use

FOREWORD
1) The International Electrotechnical Commission (IEC) is a worldwide organization for standardization comprising
all national electrotechnical committees (IEC National Committees). The object of IEC is to promote international
co-operation on all questions concerning standardization in the electrical and electronic fields. To this end and
in addition to other activities, IEC publishes International Standards, Technical Specifications, Technical Reports,
Publicly Available Specifications (PAS) and Guides (hereafter referred to as “IEC Publication(s)”). Their
preparation is entrusted to technical committees; any IEC National Committee interested in the subject dealt with
may participate in this preparatory work. International, governmental and non-governmental organizations liaising
with the IEC also participate in this preparation. IEC collaborates closely with the International Organization for
Standardization (ISO) in accordance with conditions determined by agreement between the two organizations.
2) The formal decisions or agreements of IEC on technical matters express, as nearly as possible, an international
consensus of opinion on the relevant subjects since each technical committee has representation from all
interested IEC National Committees.
3) IEC Publications have the form of recommendations for international use and are accepted by IEC National
Committees in that sense. While all reasonable efforts are made to ensure that the technical content of IEC
Publications is accurate, IEC cannot be held responsible for the way in which they are used or for any
misinterpretation by any end user.
4) In order to promote international uniformity, IEC National Committees undertake to apply IEC Publications
transparently to the maximum extent possible in their national and regional publications. Any divergence between
any IEC Publication and the corresponding national or regional publication shall be clearly indicated in the latter.
5) IEC itself does not provide any attestation of conformity. Independent certification bodies provide conformity
assessment services and, in some areas, access to IEC marks of conformity. IEC is not responsible for any
services carried out by independent certification bodies.
6) All users should ensure that they have the latest edition of this publication.
7) No liability shall attach to IEC or its directors, employees, servants or agents including individual experts and
members of its technical committees and IEC National Committees for any personal injury, property damage or
other damage of any nature whatsoever, whether direct or indirect, or for costs (including legal fees) and
expenses arising out of the publication, use of, or reliance upon, this IEC Publication or any other IEC
Publications.
8) Attention is drawn to the Normative references cited in this publication. Use of the referenced publications is
indispensable for the correct application of this publication.
9) IEC draws attention to the possibility that the implementation of this document may involve the use of (a)
patent(s). IEC takes no position concerning the evidence, validity or applicability of any claimed patent rights in
respect thereof. As of the date of publication of this document, IEC had not received notice of (a) patent(s), which
may be required to implement this document. However, implementers are cautioned that this may not represent
the latest information, which may be obtained from the patent database available at https://patents.iec.ch. IEC
shall not be held responsible for identifying any or all such patent rights.
IEC 62849 has been prepared by IEC technical committee 59: Performance of household and
similar electrical appliances. It is an International Standard.
This second edition cancels and replaces the first edition published in 2016. This edition
constitutes a technical revision.
This edition includes the following significant technical changes with respect to the previous
edition:
a) the title has been changed to "Performance evaluation methods of robots for household and
similar use";
b) the scope is more clearly defined and the physical specifications of robots for household
and similar use covered by this document are clearly defined;
c) new evaluation methods for 6 performance items have been added, including obstacle
avoidance, managing a ramp, lighting effects, transition overcome, threshold overcome,
energy consumption of robots;
IEC 62849:2025 © IEC 2025
d) new structure has been introduced, which provides basic common test methods in each
category and can be used by other robotics standards, including the following:
1) mobility,
2) navigation,
3) energy use,
4) effects on environment,
5) other/miscellaneous.
The text of this International Standard is based on the following documents:
Draft Report on voting
59/857/FDIS 59/860/RVD
Full information on the voting for its approval can be found in the report on voting indicated in
the above table.
The language used for the development of this International Standard is English.
This document was drafted in accordance with ISO/IEC Directives, Part 2, and developed in
accordance with ISO/IEC Directives, Part 1 and ISO/IEC Directives, IEC Supplement, available
at www.iec.ch/members_experts/refdocs. The main document types developed by IEC are
described in greater detail at www.iec.ch/publications.
In this standard, the following print types are used:
– terms defined in Clause 3: bold type.
The committee has decided that the contents of this document will remain unchanged until the
stability date indicated on the IEC website under webstore.iec.ch in the data related to the
specific document. At this date, the document will be
– reconfirmed,
– withdrawn, or
– revised.
IEC 62849:2025 © IEC 2025
INTRODUCTION
As stated in the Foreword, this document has made adjustments and improvements in terms of
name, scope, performance items, overall structure, etc. and will cover the generic performance
test methods of robots for household and similar use within one document.
The needs in terms of environmental effects (noise, photoelectric pollution, etc.),
other/miscellaneous (human-robot interface, facial recognition, voice recognition, information
security, reliability, AI, etc.) linked to the increasing performance and demand for robots used
outdoors will be taken into account in a future version of this document.

IEC 62849:2025 © IEC 2025
1 Scope
This document provides performance testing and evaluation methods for the common features
of robots for household and similar use, their physical specifications satisfying the following:
– height: maximum 1,75 m,
– dimensions: maximum 700 mm wide (to be able to fit through doorways),
– speed: maximum 1,5 m/s,
– floor supported wheeled or wheel-track robots.
This document is neither concerned with safety nor with performance requirements.
This document is applicable for indoor floor use robots.
This document is not applicable to the following products:
Wet and dry surface-cleaning robots or combination of such functions.
NOTE If different testing and evaluating methods are given in other standards for specific robots，these methods
can be considered for priority use.
2 Normative references
The following documents are referred to in the text in such a way that some or all of their content
constitutes requirements of this document. For dated references, only the edition cited applies.
For undated references, the latest edition of the referenced document (including any
amendments) applies.
IEC TS 61496-4-3, Safety of machinery - Electro-sensitive protective equipment - Part 4-3:
Particular requirements for equipment using vision based protective devices (VBPD) -
Additional requirements when using stereo vision techniques (VBPDST)
IEC TS 62885-1, Surface cleaning appliances - Part 1: General requirements on test material
and test equipment
IEC/ASTM 62885-7:2020, Surface cleaning appliances - Part 7: Dry-cleaning robots for
household or similar use - Methods for measuring the performance
IEC/ASTM 62885-7:2020/AMD1:2022
ISO 554, Standard atmospheres for conditioning and/or testing - Specifications
ISO 2768-1:1989, General tolerances - Part 1: Tolerances for linear and angular dimensions
without individual tolerance indications
ISO 13856-3, Safety of machinery - Pressure-sensitive protective devices - Part 3: General
principles for design and testing of pressure-sensitive bumpers, plates, wires and similar
devices
IEC 62849:2025 © IEC 2025
3 Terms and definitions
For the purposes of this document, the following terms and definitions apply.
ISO and IEC maintain terminology databases for use in standardization at the following
addresses:
– IEC Electropedia: available at https://www.electropedia.org/
– ISO Online browsing platform: available at https://www.iso.org/obp
3.1
household robot
actuated mechanism with a degree of autonomy for household and similar use to perform its
intended tasks
Note 1 to entry: Actuated mechanism includes travel and/or robot body movement.
3.2
mobile robot
robot able to travel by itself
[SOURCE: ISO 13482:2014, 3.5, modified – "under its own control" has been replaced with "by
itself"]
3.3
capability of homing function
capability of household robot to return to the docking station(s) or commanded point for
charging or after completion of the work task or called by user
3.4
pose
combination of position and orientation
3.5
automatic mode
operating mode in which the robot accomplishes its assigned mission without direct human
intervention
3.6
manual mode
operating mode in which the robot can be operated by pushbutton or joystick, for example, and
that excludes operation in automatic mode
3.7
fully charged
point charging when, according to the manufacturer's instructions, the parameters such as
voltage, current, and temperature of the battery tend to stabilize, and the indicator light or sound
prompt indicates that the product has reached its rated maximum storage capacity
3.8
fully discharged
point in use when the manufacturer's instructions state the product is completely discharged or
the robot cannot restart the operation, whichever comes first
IEC 62849:2025 © IEC 2025
3.9
docking station
unit that can provide manual or automatic battery charging facilities and/or AC/DC power supply
Note 1 to entry: Apart from any such function, it can also provide other facilities such as:
– communication connections,
– navigation information,
– data processing facility or other robot support functions.
Note 2 to entry: A docking station is also known as a base unit.
Note 3 to entry: For some robots, the docking station can come in the form of an external power supply.
3.10
trial
single instance of a performance measurement carried out under identical conditions that can
be repeated multiple times
3.11
run
subset of a trial where one or more factors affecting the test results is (are) changed
3.12
pose tracking system
PTS
measurement system which enables the position and orientation tracking of the robot for
household and similar use
3.13
start orientation
wheel or wheel-track alignment in the direction of forward movement at the time of operation
start
4 General conditions for testing
4.1 Conditions prior to testing
The robot shall be completely assembled and fully operational in accordance with the
manufacturer's instructions. All necessary leveling operations, alignment procedures and
functional tests shall be satisfactorily completed.
If possible, the software shall be updated to the latest available for the robot in the region of
purchase according to manufacturer's instruction.
The software version used in a test shall be reported.
If available, the manufactured date and the serial number of the samples shall be reported.
Prior to conducting any series of tests, the age, condition, and history of the product shall be
recorded.
NOTE Condition information can include model number/name, and accessories used, if available.
IEC 62849:2025 © IEC 2025
4.2 Operating and environmental conditions
4.2.1 General
The performance characteristics determined by the related test methods in this document are
valid only under the environmental and normal operating conditions as stipulated by the
manufacturer.
4.2.2 Operating conditions
All tests shall be carried out under conditions in which the household mobile robot is operated
in normal use; the normal operating conditions used in the tests shall be in accordance with the
manufacturer's instructions.
Performance will be affected by the installed software. Therefore, installed software shall not
be modified or changed during a set of tests.
4.2.3 Atmospheric conditions
Unless otherwise specified, the test procedures and measurements shall be carried out under
the following atmospheric conditions (in accordance with ISO 554):
– temperature: (23 ± 5) °C,
– air pressure: 86 kPa to 106 kPa,
– relative humidity: (45 ± 15) %.
Temperature and humidity conditions within the specified ranges are required for good
repeatability and reproducibility. The conditions shall be kept to avoid changes during a test.
4.2.4 Lighting conditions
Unless otherwise specified, the test procedures and measurements shall be carried out under
the following lighting conditions:
– intensity: (200 ± 50) lx,
– colour temperature: 2 000 K to 7 000 K,
– measurement shall be made at the test surface.
NOTE Lighting conditions for lighting effects test (see 7.4) are different from the general lighting condition and they
are defined in 7.4.2.
4.3 Test equipment and materials
Measurements shall be carried out on a level floor consisting of a smooth untreated laminated
pine tree plate or equivalent panel, at least 15 mm thick and of a size fit for the test.
Equipment and materials for measurements (devices, test carpets, etc.) to be used in a test
should, prior to the test, be kept for at least 16 h at standard atmospheric conditions according
to 4.2.3, if applicable for the test.
4.4 Number of samples
All measurements of performance shall be carried out on the same sample(s) of the robot with
its attachments, if any. During a set of tests, the sample robot shall not be changed.
A minimum of three samples of the same model shall be tested.
If possible, the software shall be updated to the latest available for the robot in the region of
purchase in accordance with the manufacturer's instructions.
IEC 62849:2025 © IEC 2025
If available, the manufacture date, the serial number, and the software version of the samples
shall be reported.
Tests carried out to simulate stresses a robot can be exposed to during normal use, possibly
causing impairment of the robot performance, can require additional samples of replaceable
parts. Such tests shall be carried out at the end of a test programme.
4.5 Preparation of battery
Any unused Li-ion battery shall be fully charged and fully discharged once prior to conducting
the first test on a household robot or similar use. Any unused other type of battery shall be
fully charged and fully discharged three times prior to conducting the first test on a
household robot or similar use. Complete discharge of the robot shall be done by performing
a normal operation following the manufacturer's instructions until the robot ceases to function.
Remove the docking station once it is in operation to ensure complete discharge.
NOTE It is understood that some robots do not allow discharge below a certain energy level for battery protection.
Complete discharge means either low battery signal without robot motion or robot stops operation without being able
to restart.
4.6 Operation of the household robot
Prior to the first test on a new household robot, it should be run in accordance with 4.5 for one
battery cycle. Prior to conducting any series of tests, the age, condition, and history of the
product shall be recorded.
Unless otherwise specified, the following applies.
– The household robot, its attachments, the docking station and any accessories shall be
used and adjusted in accordance with the manufacturer's instructions for normal operation
before a test is carried out.
– If the robot has both manual and automatic modes that are used by consumers to fit the
environment to be operated, automatic mode is recommended to be used for the tests.
– If the robot has multiple operation modes as specified in Table D.1 of Annex D (informative),
each operation mode for test shall be carried out.
– The operation mode of the robot can be selected and adjusted to perform its intended tasks
according to the manufacturer's published instructions only before the test.
– The mode and settings used for the test shall be recorded and reported.
Any safety-related device shall be allowed to operate.
4.7 Measurement resolution and accuracy
Unless specified in the test methods, the resolution and the accuracy of the measurement
device shall be as follows.
Recommended position measurement by pose tracking system:
– position resolution ≤ 1 cm,
– position accuracy ≤ 1 cm,
– orientation resolution ≤ 0,1°,
– orientation accuracy ≤ 3°,
– data acquisition rate ≥ 30 Hz.
Time measurement:
– resolution ≤ 0,1 s,
– accuracy ≤ 0,2 s.
IEC 62849:2025 © IEC 2025
The sampling rate of the pose tracking system shall be adequate to ensure the dynamic
position accuracies as specified above.
4.8 Tolerance of dimensions
For all dimensions which are not presented as a range and where no tolerance is specified, the
tolerance shall be determined as in Table 1 and Table 2.
Table 1 – Tolerance of linear dimension
Nominal size range Tolerance
mm mm
> 3 to ≤ 6 ± 0,5
> 6 to ≤ 30 ± 1,0
> 30 to ≤ 120 ± 1,5
> 120 to ≤ 400 ± 2,5
> 400 to ≤ 1 000 ± 4,0
> 1 000 to ≤ 2 000 ± 6,0
> 2 000 to ≤ 5 000 ± 8,0
Values are taken from ISO 2768-1:1989, Table 1.

Table 2 – Tolerance of external radius and chamfer heights
Nominal size range Tolerance
mm mm
> 0,5 to ≤ 3 ± 0,4
> 3 to ≤ 6 ± 1,0
> 6 ± 2,0
Values are taken from ISO 2768-1:1989, Table 1.

5 Units
Unless otherwise stated, all dimensions are as follows:
– length in millimeters (mm),
– angle in degrees (°),
– time in seconds (s),
– mass in kilograms (kg),
– velocity in meter per second (m/s).
6 Mobility
6.1 Threshold overcome
6.1.1 General
The purpose of this test is to measure the maximum height of various threshold shapes that a
robot can traverse.
IEC 62849:2025 © IEC 2025
6.1.2 Test equipment
6.1.2.1 Basic test bed configuration
The length and the width of the test bed shall be at least 4 000 mm × 2 150 mm as specified in
Figure 1. The height of the wall surrounding the test bed floor shall be at least 300 mm. The
inner side of the wall shall be untreated pine wood colour. The ceiling height of the room in
which the test is executed shall not be higher than 3 500 mm. The test floor shall be untreated
laminated pine tree plate or equivalent and its thickness shall be at least 15 mm. This box is
the basic test setup for threshold overcome test. For the different tests, additional equipment is
added, which is described separately for each test.
NOTE This basic test bed configuration is identical with the configuration specified in IEC/ASTM 62885-7:2020,
9.2.1.
Dimensions in millimetres
Figure 1 – Basic test bed configuration for mobility testing
6.1.2.2 Maximum passable threshold height − Additional equipment
In this test, the following three different types of thresholds, cylindrical, rectangular and
trapezoid (see Table 3 and Figure 3) are added to the box in Figure 1. It shall be placed in the
middle of the long side of the box as specified in Figure 2. The thresholds are made of
aluminium with unground or untreated surface. The additional threshold shall be fixed to the
travel surface so that it cannot move in any direction (e.g. rolling or bending) while bumped by
the robot. Thresholds shall be at least 2 150 mm long.
Table 3 – Typical thresholds and its characteristic
Name Face dimensions Height (h) increase
Increasing the radius of the circular face height
Cylinder Circular
(h) and width change
A rectangle of 40 mm width and variable
Height of the rectangular face increases (height
Rectangular height (h), with 3 mm radius on the top
changes, width is constant)
edges
Height (h) of trapezoid increases, with top edge
A trapezoid with top edge of 40 mm,
Trapezoid and bottom angles constant (height changes,
bottom angles of 40°
width changes)
IEC 62849:2025 © IEC 2025
Dimensions in millimetres
Key
T threshold
Figure 2 – Test bed with additional threshold
Dimensions in millimetres
Key
h height of threshold
Figure 3 – Drawings of cylindrical, rectangular and trapezoid thresholds
IEC 62849:2025 © IEC 2025
6.1.3 Test method
6.1.3.1 Automatic mode
Trials are performed with the robot starting in each of the starting positions, as shown in
Figure 4:
Dimensions in millimetre, tolerance of the angles is ± 5,0°

Key
RUT robot under test
S , S and S : starting positions 1, 2 and 3.
1 2 3
T threshold
NOTE The arrow indicates the forward direction of the household robot.
Figure 4 – Starting positions and orientations
Operation of the robot is initiated from the starting position with the start orientation in Figure 4.
If the robot stops operating and does not resume its task within 5 min from initial operation time,
or reaches the other side of the threshold within 5 min, the trial is finished. The robot moving
to the other side means that the entire body of the mobile base moves to the other side (not
including arms, etc.). If the robot has not reached the other side of the transition within 5 min
from initial operation time, the trial is stopped.
Three consecutive trials from each starting position in which the robot reaches the other side
of the threshold are required to judge that the robot can overcome a height.
Threshold height is adjusted and trials are performed to determine the tallest height of each
shape of threshold that a robot can overcome.
If the robot possesses the function to avoid climbing certain height/shapes of obstacle, it shall
be stated in the report.
IEC 62849:2025 © IEC 2025
6.1.3.2 Manual mode
With the robot starting as shown in Figure 4 from 1 m from th
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