This standard describes methods of specifying and testing the following performance characteristics of manipulating industrial robots: - pose accuracy and pose repeatebility; multi-directional pose accuracy variation; distance accuracy and distance repeatability; position stabilization time; position overshoot; drift of pose characteristics; exchangeability; path accuracy and path repeatebility; path accuracy on reorientation; cornering deviations; path velocity characteristics; minimum posing time; static compliance; weaving deviations.